DAMIAO DM-J8009P-2EC Robot Motor, 24V, 20 N.M nominal torque, 9:1, CAN@1Mbps, dual encoders, 98mm OD, 100rpm

Overview

The DAMIAO DM-J8009P-2EC is a compact Robot Motor that integrates the motor and driver for high integration and easy deployment in robotics. It features dual single-turn magnetic encoders (2, 14Bit), a 9:1 reduction, nominal torque of 20 N.M at 100rpm, peak torque of 40 N.M, and a 24V supply. Control and telemetry are provided via CAN@1Mbps, with configuration over UART@921600bps.

Key Features

• Dual encoders: single-turn absolute position of the output shaft; no loss of absolute position due to power failure.
• Integrated motor + driver design; compact structure and high integration.
• Supports visual debugging via host computer and firmware upgrades.
• Feedback over CAN bus: motor speed, position, torque, motor temperature and more.
• Dual temperature protection.
• Supports trapezoidal acceleration/deceleration in position mode.

Specifications

Motor Drawing

Dimensional drawing available; key envelope dimensions: outer diameter 98mm and height 61.7mm. Refer to the installation drawing link for mounting hole positions.

Application Scenarios

• Humanoid Robots
• Robotic Arms
• Exoskeletons
• Quadruped Robots
• AGV Vehicles
• ARU Robots

Indicator Status

What’s Included

• Motor (including driver) ×1
• Power connection cable: XT30 male-to-female power cable (200 mm in length) ×1
• CAN communication terminal: GH1.25 connection cable - 2 pin (300 mm in length) ×1
• Debugging serial port signal cable: GH1.25 connection cable - 3 pin (300 mm in length) ×1

Open Source Integration

▶ OpenArm — a fully open-source humanoid robot arm designed for physical AI research and deployment in contact-rich environments.

Manuals

• DAMIAO_DM_J8009P_2EC_Motor.stp
• DM-J8009P-2EC_User_Manual.pdf
• DM_J8009P_instalation_drawing.pdf
• 8009_RAU_5005_20240809.stp

Details

Dual encoders, integrated design, CAN bus feedback, dual temperature protection, and trapezoidal motion control. Includes motor, power cable, CAN cable, and debug serial cable.

Motor dimensions, mounting, and indicator status: green light solid (normal, ERR bit 1); red flashing (abnormal, ERR bit 0). Fault codes accessible via debugging interface.

Robot motor technical drawing with dimensions and specifications.