DM-J6006-2EC DM6006 Brushless MIT Drive Servo Motor Robot Joint Motor 24V 4NM

Standard set

1 * Motor (with Driver) 
1 * XT30 Male-to-Female Power Cable
1 * GH1.25 2-Pin Cable 
1 * GH1.25 3-Pin Cable

Standard set + USB-to-CAN Module

1 * Motor (with Driver) 
1 * XT30 Male-to-Female Power Cable
1 * GH1.25 2-Pin Cable 
1 * GH1.25 3-Pin Cable

Advantages:
- Rated torque: 4NM
- Output shaft single-turn absolute position
- Built-in driver
- Three modes: MIT, speed and position modes
- Built-in reducer box
- Dual built-in encoders 

Features:
- Dual encoders provide single-turn absolute positioning of the output shaft, ensuring position data is retained even in the event of a power failure.
- The motor and driver are integrated into a compact, high-integration design.
- It supports upper computer (PC) visual debugging and firmware upgrades.
- Motor speed, position, torque, temperature, and other data can be reported via the CAN bus.
- Equipped with dual-temperature protection.
- It supports trapezoidal acceleration and deceleration in position control mode.

Specifications:
Motor Parameters:
- Rated voltage: 24V (supports 24-48V)
- Rated current: 4A
- Peak current: 13A
- Rated torque: 4NM
- Peak torque: 12NM
- Rated speed: 150RPM
- No-load maximum speed: 240RPM

Motor Characteristics:
- Reduction ratio: 6:1
- Number of pole pairs: 14
- Phase inductance: 305µH (at 25°C)
- Phase resistance: 0.33Ω (at 25°C)

Structure and Weight:
- Outer diameter: 76mm
- Height: 36.5mm
- Motor weight: Approx. 335g

Encoder:
- Encoder resolution: 14-bit
- Number of encoders: 2
- Encoder type: magnetic encoder (single-turn)

Communication:
- Control interface: CAN at 1Mbps
- Parameter adjustment interface: UART at 921600bps

Control Modes:
- MIT mode
- Speed mode
- Position mode

Protections:
- Driver over-temperature protection: Protection temperature set at 120°C. When overheating occurs, the motor will exit "Enable Mode".
- Motor over-temperature protection: Set according to use requirements, recommended not to exceed 100°C. When overheating occurs, the motor will exit "Enable Mode".
- Motor over-voltage protection: Set according to use requirements, recommended not to exceed 32V. When over-voltage occurs, the motor will exit "Enable Mode".
- Communication loss protection: If no CAN command is received within the set period, the motor will automatically exit "Enable Mode".
- Motor over-current protection: Set according to use requirements, recommended not to exceed 9.8A. When over-current occurs, the motor will exit "Enable Mode".
- Motor under-voltage protection: If the power supply voltage is below the set value, the motor will exit "Enable Mode". Power supply voltage should not be less than 15V.


Precautions:
- Please operate the motor strictly within the specified working environment and the maximum allowable winding temperature range. Failure to do so may cause permanent and irreversible damage to the product.
- Avoid foreign objects entering the rotor; otherwise, abnormal rotor operation may occur.
- Before use, check whether all components are intact. If any parts are missing, aged, or damaged, stop using the motor immediately.
- Ensure correct wiring and that the motor is installed properly and securely.
- Do not touch the electronic rotor area during operation to avoid accidents. When the motor outputs high torque, it may generate heat -- be careful to avoid burns.
- Do not disassemble the motor without authorization, as this may affect control accuracy or even cause the motor to malfunction.