DAMIAO DM4340P Actuator Motor
The DAMIAO DM4340P is an integrated brushless servo joint motor with planetary gearbox from the DAMIAO 43 series. Driver electronics, motor, dual encoder and reduction gearbox (40:1) are combined in a compact housing. The motor is used in numerous open-source robotics projects - including OpenArm, I2RT and the Seeed reBot Arm B601-DM - and delivers a high peak torque of approximately 27 Nm for its weight and form-factor class.
Communication is over CAN bus with the full DAMIAO command set. In addition to classical position and velocity modes, the motor supports MIT mode, where position, velocity, torque and the controller gains Kp/Kd can be commanded in a single CAN packet. This combination makes it particularly suitable for fine, force-controlled applications such as imitation learning, teleoperation or reinforcement learning.
The built-in dual encoder measures both the motor side (before the gearbox) and the output side (after the gearbox), provides an absolute single-turn position at the output shaft and retains the position even after a power loss. For software integration, C++, Python and ROS 1 / ROS 2 support packages as well as the open-source DAMIAO driver are available.
In the reBot Arm B601-DM, the DM-J4340P-2EC typically drives the three high-torque joints at shoulder, upper arm and elbow, while the smaller DM-J4310-2EC is used for forearm and wrist.
Highlights
- Integrated brushless servo joint motor with planetary gearbox (40:1)
- Peak torque approx. 27 Nm in a compact form factor
- Dual encoder for absolute position measurement at the output shaft (robust against power loss)
- CAN bus communication with MIT mode (position, velocity, torque, Kp/Kd in a single packet)
- Driver electronics integrated in the motor - no external servo controllers required
- Used in open-source platforms such as OpenArm, I2RT, Seeed reBot Arm B601-DM
- Driver packages for C++, Python, ROS 1 / ROS 2
Technical data
- Model: DM4340P
- Type: integrated servo joint motor (BLDC with FOC driver, planetary gearbox, dual encoder)
- Gear ratio: 40:1
- Peak torque: approx. 27 Nm
- Encoder: dual encoder (motor and output side), absolute single-turn position at the output
- Control modes: MIT mode, position mode, velocity mode
- Communication: CAN bus up to 1 Mbps
- Supply voltage: 24 V DC (DAMIAO 24 V variant)
- Dimensions: Ø 57 mm, height 53.3 mm
- Protection: thermal, overcurrent, overvoltage, communication monitoring
- Connectors: XT30 (2+2) for power and CAN, GH 1.25 (3-pin) for debug serial
- Software: C++, Python, ROS 1 / ROS 2 driver packages
Scope of Delivery
- 1 × DAMIAO DM4340P joint motor
- Access to the official documentation and driver packages (C++, Python, ROS 1/2)
Not included (required separately)
- DAMIAO 43 USB-CAN driver board (for commissioning and debug)
- Power distribution board for setups with several motors
- 24 V power supply
- XT30 cables for power and CAN
- Host computer (PC or NVIDIA Jetson) to run the SDK / ROS stack
DAMIAO DM4310 Joint Motor
The DAMIAO DM4310 is the smaller sibling of the DM-J4340P-2EC in the DAMIAO 43 series. It is also an integrated brushless servo joint motor with integrated driver electronics, reduction gearbox and dual encoder - but significantly lighter and more compact and with a peak torque of approximately 7 Nm, optimised for use at distal joints (forearm, wrist, gripper).
Like the larger member of the series, the DM-J4310 communicates over CAN bus and supports MIT mode, position mode and velocity mode. The DAMIAO 43 command set and the connectors are identical, so both motors can be combined without modification - in the Seeed reBot Arm B601-DM, for example, three DM-J4340P-2EC for shoulder, upper arm and elbow plus three DM-J4310-2EC for forearm and wrist, and an additional DM-J4310 as drive for the parallel gripper.
The DM-J4310 is also used in numerous open-source robotics projects - OpenArm, I2RT and the reBot Arm B601-DM. Driver packages for C++, Python and ROS 1 / ROS 2 are freely available, as is an openly documented CAN protocol.
Highlights
- Integrated brushless servo joint motor with gearbox and dual encoder
- Peak torque approx. 7 Nm, optimised for distal joints and grippers
- Compact: housing 56 × 56 × 46 mm, lightweight
- 24 V supply, rated output speed approx. 120 rpm
- CAN bus communication with MIT mode (position/velocity/torque in a single packet)
- Dual encoder for absolute position measurement at the output, robust against power loss
- Used in open-source platforms such as OpenArm, I2RT, Seeed reBot Arm B601-DM
- Driver packages for C++, Python, ROS 1 / ROS 2
Technical data
- Model: DM4310
- Type: integrated servo joint motor (BLDC with FOC driver, gearbox, dual encoder)
- Peak torque: approx. 7 Nm
- Rated speed: approx. 120 rpm at the output
- Encoder: dual encoder (motor and output side), absolute single-turn position at the output
- Control modes: MIT mode, position mode, velocity mode
- Communication: CAN bus up to 1 Mbps
- Supply voltage: 24 V DC
- Dimensions: approx. 56 × 56 × 46 mm
- Protection: thermal, overcurrent, overvoltage, communication monitoring
- Connectors: XT30 (2+2) for power and CAN, GH 1.25 (3-pin) for debug serial
- Software: C++, Python, ROS 1 / ROS 2 driver packages
Scope of Delivery
- 1 × DAMIAO DM4310 joint motor
- Access to the official documentation and driver packages (C++, Python, ROS 1/2)
Not included (required separately)
- DAMIAO 43 USB-CAN driver board (for commissioning and debug)
- Power distribution board for setups with several motors
- 24 V power supply
- XT30 cables for power and CAN
- Host computer (PC or NVIDIA Jetson) to run the SDK / ROS stack
