reBot Arm B601-DM Body Motor Kit

The reBot Arm B601-DM Body Motor Kit contains the six drive motors and the corresponding control electronics for the 6-DoF open-source robotic arm reBot Arm B601-DM by Seeed Studio. It is intended for users who manufacture their own structural parts or build custom robotic arm designs based on the DAMIAO drive platform, and who only require the actuation hardware.

The kit includes six DAMIAO joint motors (3 × DM-J4310 and 3 × DM-J4340P) - integrated brushless servo joint motors with built-in driver, dual encoders and planetary gearing. They deliver peak torques of 7 Nm (DM-J4310) and 27 Nm (DM-J4340P), support MIT mode (simultaneous position, velocity and torque commands in a single CAN packet) as well as pure position and velocity modes. The dual encoders ensure absolute position measurement at the output shaft, retained even after a power loss.

The set is complemented by a USB-CAN driver board for connection to a host computer (PC or NVIDIA Jetson), a power distribution board and all required XT30 cables and wiring harnesses. Software integration is handled via the official Python SDK; open drivers for ROS 1, ROS 2 (Humble), MoveIt, Pinocchio, Hugging Face LeRobot and NVIDIA Isaac Sim are available on GitHub.

Note: This kit contains neither structural parts nor a gripper. To build a complete arm, the Body Structure Kit and optionally the Gripper Kit (with an additional DM-J4310 motor) are required - or alternatively a user-designed mechanical structure.

Highlights

• Drive and electronics set for the reBot Arm B601-DM (without structural parts, without gripper)
• 6 DAMIAO joint motors with integrated driver, gearbox and dual encoders
• 3 × DM-J4310 (7 Nm peak torque) for wrist and distal joints
• 3 × DM-J4340P (27 Nm peak torque, 40:1 gear ratio) for shoulder, upper arm and elbow
• CAN bus communication with MIT mode (position, velocity, torque in a single packet)
• Absolute position measurement via dual encoders, robust against power loss
• Suitable also for custom robotic arm designs with own mechanics

Technical data

• Motor set: 6 DAMIAO joint motors (3 × DM-J4310-2EC, 3 × DM-J4340P-2EC)
• DM-J4310: integrated servo joint motor with gearbox, peak torque approx. 7 Nm
• DM-J4340P: integrated servo joint motor with planetary gearbox (40:1), peak torque approx. 27 Nm, Ø 57 mm, height 53.3 mm
• Encoder: dual encoder, absolute single-turn position at the output shaft
• Operating modes: MIT mode, position, velocity
• Communication: CAN bus up to 1 Mbps, USB-CAN driver board included
• Power supply: 24 V (DAMIAO 24 V variant), distributed via the included power board
• Protection: thermal, overcurrent, overvoltage, communication monitoring
• Connectors: XT30 (2+2) for power and CAN, GH 1.25 (3-pin) for debug serial
• Software stack: Python SDK, ROS 1, ROS 2 (Humble), MoveIt, Pinocchio, LeRobot, NVIDIA Isaac Sim
• Hardware open-source licence: CC BY-NC-SA 4.0
• Reference data for the fully assembled arm: 6 DoF + 1, reach up to 767 mm, rated payload 1.5 kg, repeatability ± 0.2 mm

Scope of Delivery

• 3 × DAMIAO 4310 Actuator Motor
• 3 × DAMIAO 4340P Actuator Motor
• 1 × DAMIAO USB-CAN Driver Board
• 1 × XT30 (2+2) Power Separation Board
• 1 × BCCA4011 XT30 (2+2) Straight-to-Right-Angle Cable, 30 cm
• 1 × BCCA4012 XT30 (2+2) Dual Right-Angle Cable, 35 cm
• 2 × BCCA4012 XT30 (2+2) Dual Right-Angle Cable, 20 cm
• 3 × BCCA4009 XT30 (2+2) Dual Straight Cable, 30 cm
• 1 × Mauspad / Mouse Pad
• 1 × USB-Kabel

Not included (required separately)

• Mechanical structural parts (Body Structure Kit or self-fabricated)
• Gripper kit (mechanics + 1 × DAMIAO 4310)
• 24 V power supply
• Host computer (PC or NVIDIA Jetson) to run the SDK / ROS stack