The Damiao 43-series CAN bus joint motors have been widely adopted in numerous open-source robotic arm projects such as OpenArm and I2RT. Featuring dual encoders and an integrated motor-driver design, they boast a compact structure and high integration. Comprehensive technical resources are available, including C++, Python, and ROS 1/2 support packages.

Dual encoders:The output shaft provides single-turn absolute position feedback, eliminating the risk of absolute position loss after power failure.
Integrated motor-driver design: Boasts a compact structure and high integration.
Supports visual debugging via the host computer, as well as firmware upgrades.
Can feed back motor information (such as speed, position, torque, and temperature) via the CAN bus.
Equipped with dual-temperature protection
Supports trapezoidal acceleration/deceleration in position mode.

Parameter	DM4310	DM4340P
Rated Voltage	24V	24V
Rated Current	2.5A	2.5A
Peak Current	7.5A	8A
Rated Torque	3NM	9NM
Peak Torque	7NM	27NM
Rated Speed	120rpm	36rpm
No-Load Max Speed	200rpm	52rpm
Gear Ratio	10: 1	40:1
Number of Pole Pairs	14	14
Phase Inductance	340H	340H
Phase Resistance	650m	880m
Outer Diameter	56mm	57mm
Height	46mm	56.5mm
Motor Weight	Approx. 300g	Approx. 375g
Encoder Resolution	14 bits
Number of Encoders	2
Encoder Type	Magnetic Encoder (Single-turn)
Control Interface	CAN@1Mbps
Tuning Interface	UART@921600bps
Control Modes	MIT Mode; Speed Mode; Position Mode
Protection	Driver Over-temperature Protection: Triggers at 120C, motor exits “Enable Mode”- Motor Over-temperature Protection: Recommended 100C (customizable), motor exits “Enable Mode” when exceeded Motor Over-voltage Protection: Recommended 32V (customizable), motor exits “Enable Mode” when exceeded Communication Loss Protection: Motor exits “Enable Mode” if no CAN command is received within the set period Motor Over-current Protection: Recommended 9.8A (customizable), motor exits “Enable Mode” when exceeded Motor Under-voltage Protection: Motor exits “Enable Mode” if supply voltage < set value (recommended 15V)

OpenArm

OpenArm is an open-source 7DOF humanoid arm designed for physical AI research and deployment in contact-rich environments. All hardware and software are completely open-source and ready for you to build, hack, and deploy!

I2RT

Ready to deploy and built on a fully open-source codebase, giving you complete transparency and customization. Designed for rapid integration, community-driven improvements, and scalable real-world applications.