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Damiao 43 Series Motors Getting Start

This article will introduce how to get started with Damiao 43 series motors and how to use them with C++ and Python on the reComputer Mini Jetson Orin.

Specification​

Here's the completed table with all parameters filled in for all motor models:

Motor ModelRated Torque (Nm)Peak Torque (Nm)No-load Speed (rpm)Rated Speed (rpm)Reduction RatioSize Diameter*Height (mm)Weight (g)Supply Voltage (V)Recommended Voltage Range (V)Rated Phase Current (A)Peak Phase Current (A)Rated Power (W)Pole PairsCommunication MethodEncoder TypeInstallationPhase Resistance (Ω)Phase Inductance (uH)Flux Linkage (Wb)Rotational Inertia (Kg*m²)Torque Constant (Nm/A)Drive Max Current (A)Speed Loop KPDefault PMAX (rad)Default VMAX (rad/s)Default TMAX (Nm)Speed Constant
J4310-2EC V1.1372001201057 * 46~3002415-323.77.237.69911214CAN, CANFDMagnetic, DualBuilt-in0.853450.00451.80E-050.94510.2611943.72E-0412.5301087.512523
J4310-2EC V1.1(48V)374001201057 * 46~3004815-523.77.237.69911214CAN, CANFDMagnetic, DualBuilt-in0.853450.00451.80E-050.94510.2611943.72E-0412.5301087.512523
J4340-2EC92752.5364057 * 53.3~3622415-323833.92920114CAN, CANFDMagnetic, DualBuilt-in0.883600.004852.00E-054.07410.2611949.59E-0512.582881.197186
J4340-2EC(48V)927100364057 * 53.3~3624815-522.5933.92920114CAN, CANFDMagnetic, DualBuilt-in0.883600.004852.00E-054.07410.2611949.59E-0512.582881.197186
J4340P-2EC92752.5364057 * 56.5~3752415-323833.92920114CAN, CANFDMagnetic, DualBuilt-in0.883600.004852.00E-054.07410.2611949.59E-0512.582881.197186
J4340P-2EC(48V)927100364057 * 56.5~3754815-522.5933.92920114CAN, CANFDMagnetic, DualBuilt-in0.883600.004852.00E-054.07410.2611949.59E-0512.582881.197186

Main Features​

  1. CAN BUS & CANFD
  2. Dual Encoder
  3. High Torque Density
  4. High Precision
  5. Hollow Design

Getting Start​

Environmental Preparation Before Use​

Windows System in PC

Connect the Circuit to PC​

We use the CAN communication method, which requires an additional USB-CAN interface for debugging via an upper computer on Windows.

Here, you need to provide a separate 24V power supply for the motor and connect the USB to your computer.

Use the Debugging_Tools_v.1.6.8.8.exe to Test the Motor.​

You can switch between Chinese and English at the bottom of the app.

Configure serial port connection parametersconnect to motorRead ParamSet CAN IDWrite Param.
fig1fig2fig3fig4fig5
For the Serial Port, use the port automatically recognized by the computer, with all other settings as defaults.After clicking the 'Open Port' button, it will automatically connect to the host computer. If this is the first connection, motor information will be printed in the dialog boxIn the 'Set Parameters' section, clicking 'Read Param' will display the motor's current detailed information and motion mode.Here, please first configure the CAN ID.After configuration, click 'Write Param' to update the parameters.
tip

​CAN_ID: The frame ID used by the drive to receive CAN commands (hexadecimal).

​Master ID: The frame ID used by the drive to send feedback (hexadecimal).

The ​Master ID is the host ID. It is recommended to set ​unique Master IDs for each motor.

A good practice is to set the ​Master ID higher than the ​CAN_ID by ​0x10 (e.g., if CAN_ID = 0x01, Master ID = 0x11).

​Example:

​Motor 1: CAN_ID = 0x01, Master ID = 0x11

​Motor 2: CAN_ID = 0x02, Master ID = 0x12

​Do not set Master ID to 0x00!!!

(1) Basic Parameters​

  • NPP: The number of motor pole pairs, automatically determined through calibration.
  • UV: If the supply voltage drops below the threshold (minimum 15V), the drive will stop operating.
  • OV: Sets the upper voltage limit. The drive checks the supply voltage at power-up and disables operation if exceeded (checked only once at startup).
  • Acc/Dec: Used in non-MIT modes to limit the rate of speed change.
  • GR(Gear Ratio): Affects output speed/position and indirectly influences torque feedback. Supports floating-point values.
  • OT: Coil temperature threshold (recommended ≤ 100°C). Exceeding this triggers fault mode (disables motor and reports error).
  • CAN_ID: Frame ID for receiving CAN commands (hexadecimal).
  • Master ID: Frame ID for drive feedback (hexadecimal). Best practice: Set MasterID = CAN_ID + 0x10 (e.g., 0x01 → 0x11). Never set to 0x00.
  • CAN Timeout: 32-bit integer defining the timeout period (units: 50µs cycles). Motor enters protection mode if no CAN commands are detected within this interval.
  • Speed Limit (Speed mode only): Maximum speed before deceleration (units: rad/s).
  • Overcurrent: Maximum phase current limit (percentage).

(2) Motor Parameters​

  • Automatically identified by the drive. Recalibration required when replacing the drive board. Stored persistently in the drive.

(3) Command Scaling (Amplitude Settings)​

  • PMAX: In MIT mode, scales command input; in other modes, scales feedback output. Refer to CAN protocol for mapping rules.
  • VMAX: Same as PMAX.
  • TMAX: Same as PMAX.
  • KT_OUT: Motor torque constant. Set to 0 if motor parameters are accurately identified.
  • Gear Ratio Coefficient: Torque transmission ratio for gears.

Note: The drive uses the MIT communication protocol format.

(4) Control Settings​

  • Control Modes:
    • MIT Mode
    • Position-Velocity Mode (trapezoidal acceleration/deceleration)
    • Velocity Mode
  • Current Bandwidth: Current loop gain (default: 1000).
  • Speed KP/KI, Position KP/KI: PID parameters for speed and position loops.

MIT Control Mode​

1. MIT Torque Control Mode:

  1. In the Set Parameters section, click ​Read Param to display current motor parameters.

  2. Set the ​Control Mode to MIT Mode.

  3. Verify the configured ​CAN ID.

  4. Click ​Write Param to save all settings.

  1. In the ​Test tab, click the ​"Enable Motor" button (Ente).

  2. In the ​MIT Control section:

  • Set ​Torque (Nm) to ​1.
  • Click ​Update → ​Send.

The motor will start rotating.

You can also copy the CAN data (in hexadecimal format) and use a serial port debugging tool to drive the motor.

2. MIT Speed Control Mode:

  1. In the ​Test tab, click the ​"Enable Motor" button (Ente).

  2. In the ​MIT Control section:

  • Set Vel (rad/s) to ​5.
  • Set KD (N*s/r) to ​1.
  • Click ​Update → ​Send.

The motor will start rotating. You can also copy the CAN data (in hexadecimal format) and use a serial port debugging tool to drive the motor.

3. MIT Position Control Mode:

  1. In the ​Test tab, click the ​"Enable Motor" button (Ente).

  2. You can use ​"SaveZero" to set the current position as the zero point.

  1. In the ​MIT Control section:
  • Set Pos (rad) to 3.14.
  • Set KP (N/r) to ​2.
  • Set KD (N*s/r) to ​1.
  • Click ​Update → ​Send.

The motor will start rotating. You can also copy the CAN data (in hexadecimal format) and use a serial port debugging tool to drive the motor.

Speed Control Mode​

  1. In the Set Parameters section, click ​Read Param to display current motor parameters.

  2. Set the ​Control Mode to Vel Mode.

  3. Verify the configured ​CAN ID.

  4. Click ​Write Param to save all settings.

  1. In the ​Test tab, click the ​"Enable Motor" button (Ente).

  2. In the Vel Control section:

  • Set Vel (rad/s) to 5.
  • Click ​Update → ​Send.

The motor will start rotating. You can also copy the CAN data (in hexadecimal format) and use a serial port debugging tool to drive the motor.

Position Control Mode​

  1. In the Set Parameters section, click ​Read Param to display current motor parameters.

  2. Set the ​Control Mode to Pos Mode.

  3. Verify the configured ​CAN ID.

  4. Click ​Write Param to save all settings.

  1. In the ​Test tab, click the ​"Enable Motor" button (Ente).

  2. In the Pos Control section:

  • Set Pos to 3.14.
  • Set Vel (rad/s) to 5.
  • Click ​Update → ​Send.

The motor will start rotating. You can also copy the CAN data (in hexadecimal format) and use a serial port debugging tool to drive the motor.

Control the Motor Using the ​reComputer Mini Jetson Orin.​

Currently, the most common CAN communication interfaces for motors in the market use XT30 (2+2) and JST connectors. Our reComputer Mini Jetson Orin and reComputer Robotics device is equipped with dual XT30 (2+2) ports and JST-based CAN interfaces, providing seamless compatibility.

reComputer Mini:

reComputer Robotics

For more details on CAN usage, you can refer to this wiki.

Enable CAN Interfaces​

Step1: Before using CAN0 and CAN1, please remove the bottom cover and set both 120Ω termination resistors to the ​ON position.

Step2: Connect the motor directly to the reComputer Mini CAN0 via the XT30 (2+2) interface.

tip

For the reComputer Mini's CAN interface, the H/L pins are inverted compared to the motor's H/L. Therefore, you need to reverse the H/L connections in the XT30 2+2 cable harness.

danger

This power supply is only for single-motor learning and testing. For multiple motors, please design a separate power board and isolate the Jetson's power supply from the motor power supply to avoid high current passing directly through the Jetson.

Enable Jetson CAN communication​

Open a terminal and enter the following command to pull the GPIO pin high and activate CAN0:

gpioset --mode=wait 0 43=0

If you are using the JST-interface CAN1, pull pin 106 high.

gpioset --mode=wait 0 106=0

Keep this terminal open, launch a new terminal, and configure CAN0.

sudo modprobe mttcan
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

For C++ Examples.​

Installation and Compilation​

  • Install CMake 
sudo apt update  
sudo apt install cmake
  • Install CAN Tools 
sudo apt install can-utils
  • Download and Compile the Program
  1. Create a workspace and clone the repository: 
mkdir -p ~/orin_ws/src  
cd ~/orin_ws/src  
git clone https://gitee.com/xauter/orin-control.git
  1. Compile: 
cd ~/orin_ws/src/orin-control/dm_hw  
mkdir build  
cd build  
cmake ..  
make

Usage​

  1. Check CAN Devices
    Open a terminal and run: 
ip -brief link | grep can
  1. Run the Program
    In the build folder, execute: 
cd ~/orin_ws/src/orin-control/dm_hw/build  
./dm_main

The motor will light up green and rotate at a sinusoidal speed.

Control Using Python​

  • Install Python Environment 
pip install python-can numpy
  • Create a folder named scripts under the directory ~/damiao/scripts to store Python scripts.
mkdir -p ~/damiao/scripts
  • Create the damiao_motor.py file
cd ~/damiao/scripts
touch damiao_motor.py

Copy the following code to damiao_motor.py

damiao_motor.py
## This is a derivative of the following software.
## https://github.com/cmjang/DM_Control_Python/blob/main/DM_CAN.py

import can
from time import sleep, time
import numpy as np
from enum import IntEnum
from struct import unpack
from struct import pack

class Motor:
    def __init__(self, MotorType, SlaveID, MasterID):
        """
        define Motor object 定义电机对象
        :param MotorType: Motor type 电机类型
        :param SlaveID: CANID 电机ID
        :param MasterID: MasterID 主机ID 建议不要设为0
        """
        self.Pd = float(0)
        self.Vd = float(0)
        self.goal_position = float(0)
        self.goal_tau = float(0)
        self.state_q = float(0)
        self.state_dq = float(0)
        self.state_tau = float(0)
        self.state_tmos = int(0)
        self.state_trotor = int(0)
        self.SlaveID = SlaveID
        self.MasterID = MasterID
        self.MotorType = MotorType
        self.isEnable = False
        self.NowControlMode = Control_Type.MIT
        self.temp_param_dict = {}

    def recv_data(self, q: float, dq: float, tau: float, tmos: int, trotor: int):
        self.state_q = q
        self.state_dq = dq
        self.state_tau = tau
        self.state_tmos = tmos
        self.state_trotor = trotor

    def getPosition(self):
        """
        get the position of the motor 获取电机位置
        :return: the position of the motor 电机位置
        """
        return self.state_q

    def getVelocity(self):
        """
        get the velocity of the motor 获取电机速度
        :return: the velocity of the motor 电机速度
        """
        return self.state_dq

    def getTorque(self):
        """
        get the torque of the motor 获取电机力矩
        :return: the torque of the motor 电机力矩
        """
        return self.state_tau

    def getParam(self, RID):
        """
        get the parameter of the motor 获取电机内部的参数，需要提前读取
        :param RID: DM_variable 电机参数
        :return: the parameter of the motor 电机参数
        """
        if RID in self.temp_param_dict:
            return self.temp_param_dict[RID]
        else:
            return None


class MotorControl:
    #send_data_frame = np.array(
    #    [0x55, 0xAA, 0x1e, 0x03, 0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0x00, 0x08, 0x00,
    #     0x00, 0, 0, 0, 0, 0, 0, 0, 0, 0x00], np.uint8)
    #                4310           4310_48        4340           4340_48
    Limit_Param = [[12.5, 30, 10], [12.5, 50, 10], [12.5, 8, 28], [12.5, 10, 28],
                   # 6006           8006           8009            10010L         10010
                   [12.5, 45, 20], [12.5, 45, 40], [12.5, 45, 54], [12.5, 25, 200], [12.5, 20, 200],
                   # H3510            DMG62150      DMH6220
                   [12.5 , 280 , 1],[12.5 , 45 , 10],[12.5 , 45 , 10]]

    def __init__(self, channel: str, bitrate: int = 1000000):
        """
        define MotorControl object 定义电机控制对象
        :param serial_device: serial object 串口对象
        """
        #self.serial_ = serial_device
        self.motors_map = dict()
        self.data_save = bytes()  # save data
        #if self.serial_.is_open:  # open the serial port
        #    print("Serial port is open")
        #    serial_device.close()
        #self.serial_.open()
        self.canbus = can.interface.Bus(channel=channel, interface='socketcan', bitrate=bitrate)

        #print("can is open")
        


    def controlMIT(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float):
        """
        MIT Control Mode Function 达妙电机MIT控制模式函数
        :param DM_Motor: Motor object 电机对象
        :param kp: kp
        :param kd:  kd
        :param q:  position  期望位置
        :param dq:  velocity  期望速度
        :param tau: torque  期望力矩
        :return: None
        """
        if DM_Motor.SlaveID not in self.motors_map:
            print("controlMIT ERROR : Motor ID not found")
            return
        kp_uint = float_to_uint(kp, 0, 500, 12)
        kd_uint = float_to_uint(kd, 0, 5, 12)
        MotorType = DM_Motor.MotorType
        Q_MAX = self.Limit_Param[MotorType][0]
        DQ_MAX = self.Limit_Param[MotorType][1]
        TAU_MAX = self.Limit_Param[MotorType][2]
        q_uint = float_to_uint(q, -Q_MAX, Q_MAX, 16)
        dq_uint = float_to_uint(dq, -DQ_MAX, DQ_MAX, 12)
        tau_uint = float_to_uint(tau, -TAU_MAX, TAU_MAX, 12)
        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        data_buf[0] = (q_uint >> 8) & 0xff
        data_buf[1] = q_uint & 0xff
        data_buf[2] = dq_uint >> 4
        data_buf[3] = ((dq_uint & 0xf) << 4) | ((kp_uint >> 8) & 0xf)
        data_buf[4] = kp_uint & 0xff
        data_buf[5] = kd_uint >> 4
        data_buf[6] = ((kd_uint & 0xf) << 4) | ((tau_uint >> 8) & 0xf)
        data_buf[7] = tau_uint & 0xff
        self.__send_data(DM_Motor.SlaveID, data_buf)
        self.recv()  # receive the data from serial port

    def control_delay(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float, delay: float):
        """
        MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
        :param DM_Motor: Motor object 电机对象
        :param kp: kp
        :param kd: kd
        :param q:  position  期望位置
        :param dq:  velocity  期望速度
        :param tau: torque  期望力矩
        :param delay: delay time 延迟时间 单位秒
        """
        self.controlMIT(DM_Motor, kp, kd, q, dq, tau)
        sleep(delay)

    def control_Pos_Vel(self, Motor, P_desired: float, V_desired: float):
        """
        control the motor in position and velocity control mode 电机位置速度控制模式
        :param Motor: Motor object 电机对象
        :param P_desired: desired position 期望位置
        :param V_desired: desired velocity 期望速度
        :return: None
        """
        if Motor.SlaveID not in self.motors_map:
            print("Control Pos_Vel Error : Motor ID not found")
            return
        motorid = 0x100 + Motor.SlaveID
        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        P_desired_uint8s = float_to_uint8s(P_desired)
        V_desired_uint8s = float_to_uint8s(V_desired)
        data_buf[0:4] = P_desired_uint8s
        data_buf[4:8] = V_desired_uint8s
        self.__send_data(motorid, data_buf)
        self.recv()  # receive the data from serial port

    def control_Vel(self, Motor, Vel_desired):
        """
        control the motor in velocity control mode 电机速度控制模式
        :param Motor: Motor object 电机对象
        :param Vel_desired: desired velocity 期望速度
        """
        if Motor.SlaveID not in self.motors_map:
            print("control_VEL ERROR : Motor ID not found")
            return
        motorid = 0x200 + Motor.SlaveID
        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        Vel_desired_uint8s = float_to_uint8s(Vel_desired)
        data_buf[0:4] = Vel_desired_uint8s
        self.__send_data(motorid, data_buf)
        self.recv()  # receive the data from serial port

    def control_pos_force(self, Motor, Pos_des: float, Vel_des, i_des):
        """
        control the motor in EMIT control mode 电机力位混合模式
        :param Pos_des: desired position rad  期望位置 单位为rad
        :param Vel_des: desired velocity rad/s  期望速度 为放大100倍
        :param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
        电流标幺值：实际电流值除以最大电流值，最大电流见上电打印
        """
        if Motor.SlaveID not in self.motors_map:
            print("control_pos_vel ERROR : Motor ID not found")
            return
        motorid = 0x300 + Motor.SlaveID
        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        Pos_desired_uint8s = float_to_uint8s(Pos_des)
        data_buf[0:4] = Pos_desired_uint8s
        Vel_uint = np.uint16(Vel_des)
        ides_uint = np.uint16(i_des)
        data_buf[4] = Vel_uint & 0xff
        data_buf[5] = Vel_uint >> 8
        data_buf[6] = ides_uint & 0xff
        data_buf[7] = ides_uint >> 8
        self.__send_data(motorid, data_buf)
        self.recv()  # receive the data from serial port

    def enable(self, Motor):
        """
        enable motor 使能电机
        最好在上电后几秒后再使能电机
        :param Motor: Motor object 电机对象
        """
        self.__control_cmd(Motor, np.uint8(0xFC))
        sleep(0.1)
        self.recv()  # receive the data from serial port

    def enable_old(self, Motor ,ControlMode):
        """
        enable motor old firmware 使能电机旧版本固件，这个是为了旧版本电机固件的兼容性
        可恶的旧版本固件使能需要加上偏移量
        最好在上电后几秒后再使能电机
        :param Motor: Motor object 电机对象
        """
        data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc], np.uint8)
        enable_id = ((int(ControlMode)-1) << 2) + Motor.SlaveID
        self.__send_data(enable_id, data_buf)
        sleep(0.1)
        self.recv()  # receive the data from serial port

    def disable(self, Motor):
        """
        disable motor 失能电机
        :param Motor: Motor object 电机对象
        """
        self.__control_cmd(Motor, np.uint8(0xFD))
        sleep(0.1)
        self.recv()  # receive the data from serial port

    def set_zero_position(self, Motor):
        """
        set the zero position of the motor 设置电机0位
        :param Motor: Motor object 电机对象
        """
        self.__control_cmd(Motor, np.uint8(0xFE))
        sleep(0.1)
        self.recv()  # receive the data from serial port

    def recv(self):
        # 把上次没有解析完的剩下的也放进来
        # data_recv = b''.join([self.data_save, self.serial_.read_all()])
        #data_recv = b''.join([self.data_save, self.canbus.recv()])


        # packets = self.__extract_packets(data_recv)
        # for packet in packets:
        #     data = packet[7:15]
        #     CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
        #     CMD = packet[1]
        #     self.__process_packet(data, CANID, CMD)
        
        data_recv = self.canbus.recv(0.1)

        if data_recv is not None:
            # data = data_recv.data
            # err = data[0] >> 12
            # id = data[0] & 0x7f
            # pos = (data[1] << 8) + data[2]
            # vel = (data[3] << 4) + (data[4] >> 4)
            # tau = ((data[4] & 0x0f) << 8) + data[5]
            # t_mos = data[6]
            # t_rotor = data[7]
            # print(hex(id), err, id, pos, vel, tau, goal_tau, t_mos, t_rotor)
            # CANID = data_recv.arbitration_id
            CANID = data_recv.data[0]
            # CMD = data_recv.data[3]
            CMD = 0x11                  # 飯田：修正の必要あり
            self.__process_packet(data_recv.data, CANID, CMD)

            # 飯田：Debug print
            # print(hex(CANID),hex(CMD))
            # print(hex(data_recv.data[0]),hex(data_recv.data[1]),hex(data_recv.data[2]),hex(data_recv.data[3]),hex(data_recv.data[4]),hex(data_recv.data[5]),hex(data_recv.data[6]),hex(data_recv.data[7]))
            #return data

    def recv_set_param_data(self):
        #data_recv = self.serial_.read_all()

        # packets = self.__extract_packets(data_recv)
        # for packet in packets:
        #     data = packet[7:15]
        #     CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
        #     CMD = packet[1]
        #     self.__process_set_param_packet(data, CANID, CMD)
        
        data_recv = self.canbus.recv(0.1)


        if data_recv is not None:
            data = data_recv.data
            CANID = data_recv.arbitration_id
            # CANID = data_recv.data[0]
            # CMD = data_recv.data[3]  
            CMD = 0x11                  # 飯田：修正の必要あり
            self.__process_packet(data, CANID, CMD)


            # 飯田：Debug print
            print(hex(CANID),hex(CMD))
            print(hex(data_recv.data[0]),hex(data_recv.data[1]),hex(data_recv.data[2]),hex(data_recv.data[3]),hex(data_recv.data[4]),hex(data_recv.data[5]),hex(data_recv.data[6]),hex(data_recv.data[7]))
    



    def __process_packet(self, data, CANID, CMD):
        if CMD == 0x11:
            if CANID != 0x00:
                if CANID in self.motors_map:
                    q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
                    dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
                    tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
                    t_mos = data[6]
                    t_rotor = data[7]
                    MotorType_recv = self.motors_map[CANID].MotorType
                    Q_MAX = self.Limit_Param[MotorType_recv][0]
                    DQ_MAX = self.Limit_Param[MotorType_recv][1]
                    TAU_MAX = self.Limit_Param[MotorType_recv][2]
                    recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
                    recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
                    recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
                    self.motors_map[CANID].recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor)
            else:
                MasterID=data[0] & 0x0f
                if MasterID in self.motors_map:
                    q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
                    dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
                    tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
                    t_mos = data[6]
                    t_rotor = data[7]
                    MotorType_recv = self.motors_map[MasterID].MotorType
                    Q_MAX = self.Limit_Param[MotorType_recv][0]
                    DQ_MAX = self.Limit_Param[MotorType_recv][1]
                    TAU_MAX = self.Limit_Param[MotorType_recv][2]
                    recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
                    recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
                    recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
                    self.motors_map[MasterID].recv_data(recv_q, recv_dq, recv_tau, t_mos, t_rotor)


    def __process_set_param_packet(self, data, CANID, CMD):
        if CMD == 0x11 and (data[2] == 0x33 or data[2] == 0x55):
            masterid=CANID
            slaveId = ((data[1] << 8) | data[0])
            if CANID==0x00:  #防止有人把MasterID设为0稳一手
                masterid=slaveId

            if masterid not in self.motors_map:
                if slaveId not in self.motors_map:
                    return
                else:
                    masterid=slaveId

            RID = data[3]
            # 读取参数得到的数据
            if is_in_ranges(RID):
                #uint32类型
                num = uint8s_to_uint32(data[4], data[5], data[6], data[7])
                self.motors_map[masterid].temp_param_dict[RID] = num

            else:
                #float类型
                num = uint8s_to_float(data[4], data[5], data[6], data[7])
                self.motors_map[masterid].temp_param_dict[RID] = num


    def addMotor(self, Motor):
        """
        add motor to the motor control object 添加电机到电机控制对象
        :param Motor: Motor object 电机对象
        """
        self.motors_map[Motor.SlaveID] = Motor
        if Motor.MasterID != 0:
            self.motors_map[Motor.MasterID] = Motor
        return True

    def __control_cmd(self, Motor, cmd: np.uint8):     # 飯田：コマンドは通ります
        data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, cmd], np.uint8)
        self.__send_data(Motor.SlaveID, data_buf)

    def __send_data(self, motor_id, data):
        """
        send data to the motor 发送数据到电机
        :param motor_id:
        :param data:
        :return:
        """
        #self.send_data_frame[13] = motor_id & 0xff
        #self.send_data_frame[14] = (motor_id >> 8)& 0xff  #id high 8 bits
        #self.send_data_frame[21:29] = data
        #self.serial_.write(bytes(self.send_data_frame.T))

        msg =can.Message(is_extended_id=False,arbitration_id=motor_id,data=data,is_remote_frame = False)
        self.canbus.send(msg)






    def __read_RID_param(self, Motor, RID):             # 飯田：修正の必要あり?
        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x33, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
        self.__send_data(0x7FF, data_buf)
        


    def __write_motor_param(self, Motor, RID, data):             # 飯田：修正の必要あり?
        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x55, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
        if not is_in_ranges(RID):
            # data is float
            data_buf[4:8] = float_to_uint8s(data)
        else:
            # data is int
            data_buf[4:8] = data_to_uint8s(int(data))
        self.__send_data(0x7FF, data_buf)

    def switchControlMode(self, Motor, ControlMode):
        """
        switch the control mode of the motor 切换电机控制模式
        :param Motor: Motor object 电机对象
        :param ControlMode: Control_Type 电机控制模式 example:MIT:Control_Type.MIT MIT模式
        """
        max_retries = 20
        retry_interval = 0.1  #retry times
        RID = 10
        self.__write_motor_param(Motor, RID, np.uint8(ControlMode))
        for _ in range(max_retries):
            sleep(retry_interval)
            self.recv_set_param_data()
            if Motor.SlaveID in self.motors_map:
                if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
                    if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - ControlMode) < 0.1:
                        return True
                    else:
                        return False
        return False

    def save_motor_param(self, Motor):
        """
        save the all parameter  to flash 保存所有电机参数
        :param Motor: Motor object 电机对象
        :return:
        """
        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xAA, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        self.disable(Motor)  # before save disable the motor
        self.__send_data(0x7FF, data_buf)
        sleep(0.001)

    def change_limit_param(self, Motor_Type, PMAX, VMAX, TMAX):
        """
        change the PMAX VMAX TMAX of the motor 改变电机的PMAX VMAX TMAX
        :param Motor_Type:
        :param PMAX: 电机的PMAX
        :param VMAX: 电机的VMAX
        :param TMAX: 电机的TMAX
        :return:
        """
        self.Limit_Param[Motor_Type][0] = PMAX
        self.Limit_Param[Motor_Type][1] = VMAX
        self.Limit_Param[Motor_Type][2] = TMAX

    def refresh_motor_status(self,Motor):
        """
        get the motor status 获得电机状态
        """
        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
        can_id_h = (Motor.SlaveID >> 8) & 0xff  #id high 8 bits
        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xCC, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
        self.__send_data(0x7FF, data_buf)
        self.recv()  # receive the data from serial port

    def change_motor_param(self, Motor, RID, data):
        """
        change the RID of the motor 改变电机的参数
        :param Motor: Motor object 电机对象
        :param RID: DM_variable 电机参数
        :param data: 电机参数的值
        :return: True or False ,True means success, False means fail
        """
        max_retries = 20
        retry_interval = 0.05  #retry times

        self.__write_motor_param(Motor, RID, data)
        for _ in range(max_retries):
            self.recv_set_param_data()
            if Motor.SlaveID in self.motors_map and RID in self.motors_map[Motor.SlaveID].temp_param_dict:
                if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - data) < 0.1:
                    return True
                else:
                    return False
            sleep(retry_interval)
        return False

    def read_motor_param(self, Motor, RID):
        """
        read only the RID of the motor 读取电机的内部信息例如 版本号等
        :param Motor: Motor object 电机对象
        :param RID: DM_variable 电机参数
        :return: 电机参数的值
        """
        max_retries = 5
        retry_interval = 0.05  #retry times
        self.__read_RID_param(Motor, RID)
        for _ in range(max_retries):
            sleep(retry_interval)
            self.recv_set_param_data()
            if Motor.SlaveID in self.motors_map:
                if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
                    return self.motors_map[Motor.SlaveID].temp_param_dict[RID]
        return None

    # -------------------------------------------------
    # Extract packets from the serial data
    def __extract_packets(self, data):          
        frames = []
        header = 0xAA
        tail = 0x55
        frame_length = 16
        i = 0
        remainder_pos = 0

        while i <= len(data) - frame_length:
            if data[i] == header and data[i + frame_length - 1] == tail:
                frame = data[i:i + frame_length]
                frames.append(frame)
                i += frame_length
                remainder_pos = i
            else:
                i += 1
        self.data_save = data[remainder_pos:]
        return frames


def LIMIT_MIN_MAX(x, min, max):
    if x <= min:
        x = min
    elif x > max:
        x = max


def float_to_uint(x: float, x_min: float, x_max: float, bits):
    LIMIT_MIN_MAX(x, x_min, x_max)
    span = x_max - x_min
    data_norm = (x - x_min) / span
    return np.uint16(data_norm * ((1 << bits) - 1))


def uint_to_float(x: np.uint16, min: float, max: float, bits):
    span = max - min
    data_norm = float(x) / ((1 << bits) - 1)
    temp = data_norm * span + min
    return np.float32(temp)


def float_to_uint8s(value):
    # Pack the float into 4 bytes
    packed = pack('f', value)
    # Unpack the bytes into four uint8 values
    return unpack('4B', packed)


def data_to_uint8s(value):
    # Check if the value is within the range of uint32
    if isinstance(value, int) and (0 <= value <= 0xFFFFFFFF):
        # Pack the uint32 into 4 bytes
        packed = pack('I', value)
    else:
        raise ValueError("Value must be an integer within the range of uint32")

    # Unpack the bytes into four uint8 values
    return unpack('4B', packed)


def is_in_ranges(number):
    """
    check if the number is in the range of uint32
    :param number:
    :return:
    """
    if (7 <= number <= 10) or (13 <= number <= 16) or (35 <= number <= 36):
        return True
    return False


def uint8s_to_uint32(byte1, byte2, byte3, byte4):
    # Pack the four uint8 values into a single uint32 value in little-endian order
    packed = pack('<4B', byte1, byte2, byte3, byte4)
    # Unpack the packed bytes into a uint32 value
    return unpack('<I', packed)[0]


def uint8s_to_float(byte1, byte2, byte3, byte4):
    # Pack the four uint8 values into a single float value in little-endian order
    packed = pack('<4B', byte1, byte2, byte3, byte4)
    # Unpack the packed bytes into a float value
    return unpack('<f', packed)[0]


def print_hex(data):
    hex_values = [f'{byte:02X}' for byte in data]
    print(' '.join(hex_values))


def get_enum_by_index(index, enum_class):
    try:
        return enum_class(index)
    except ValueError:
        return None


class DM_Motor_Type(IntEnum):
    DM4310 = 0
    DM4310_48V = 1
    DM4340 = 2
    DM4340_48V = 3
    DM6006 = 4
    DM8006 = 5
    DM8009 = 6
    DM10010L = 7
    DM10010 = 8
    DMH3510 = 9
    DMH6215 = 10
    DMG6220 = 11


class DM_variable(IntEnum):
    UV_Value = 0
    KT_Value = 1
    OT_Value = 2
    OC_Value = 3
    ACC = 4
    DEC = 5
    MAX_SPD = 6
    MST_ID = 7
    ESC_ID = 8
    TIMEOUT = 9
    CTRL_MODE = 10
    Damp = 11
    Inertia = 12
    hw_ver = 13
    sw_ver = 14
    SN = 15
    NPP = 16
    Rs = 17
    LS = 18
    Flux = 19
    Gr = 20
    PMAX = 21
    VMAX = 22
    TMAX = 23
    I_BW = 24
    KP_ASR = 25
    KI_ASR = 26
    KP_APR = 27
    KI_APR = 28
    OV_Value = 29
    GREF = 30
    Deta = 31
    V_BW = 32
    IQ_c1 = 33
    VL_c1 = 34
    can_br = 35
    sub_ver = 36
    u_off = 50
    v_off = 51
    k1 = 52
    k2 = 53
    m_off = 54
    dir = 55
    p_m = 80
    xout = 81


class Control_Type(IntEnum):
    MIT = 1
    POS_VEL = 2
    VEL = 3
    Torque_Pos = 4

class DamiaoPort:
    def __init__(self, device, types, can_ids, master_ids, motor_with_torque, control_mode=Control_Type.MIT):
        self.device = device
        self.types = types
        self.can_ids = can_ids
        self.master_ids = master_ids
        self.control = MotorControl(self.device, bitrate=4000000)
        self.motors = [Motor(type, can_id, master_id) for type, can_id, master_id in zip(types, can_ids, master_ids)]
        self.stat_data = []
        self.stat_time = []
        for motor in self.motors:
            self.control.addMotor(motor)
            self.control.enable(motor)

    def get_present_status(self):
        self.stat_time.append(time())
        stat = [[
            motor.goal_position,
            motor.goal_tau,
            motor.getPosition(),
            motor.getVelocity(),
            motor.getTorque(),
            motor.state_tmos,
            motor.state_trotor,
        ] for motor in self.motors]
        self.stat_data.append(stat)

        return stat

    def save_status(self, filename):
        np.savez(filename, np.array(self.stat_time), np.array(self.stat_data))

    def disable(self):
        for motor in self.motors:
            self.control.disable(motor)

    def shutdown(self):
        for motor in self.motors:
            self.control.controlMIT(motor, 0, 0, 0, 0, 0)
        self.control.canbus.shutdown()

    def set_zero_position(self):
        for motor in self.motors:
            self.control.disable(motor)
        sleep(1)
        for motor in self.motors:
            self.control.set_zero_position(motor)
        sleep(1)
        for motor in self.motors:
            self.control.enable(motor)
        return 0

    async def move_towards(self, goal_positions, kps, kds):
        for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
            delta = goal_position - motor.getPosition()
            v = motor.getVelocity()
            tau = kp * delta - kd * v
            motor.goal_position = goal_position
            motor.goal_tau = tau
            self.control.controlMIT(motor, 0, 0, 0, 0, tau)
            await asyncio.sleep(0.00003)

    def move_regressor_sync(self, regs, search_range, search_step, goal_positions, kps, kds):
        TORQUE_SCALER=30
        if len(self.stat_data) == 0:
            return self.move_towards_sync(goal_positions, kps, kds)
        for motor, reg, goal_position, kp, kd, stat in zip(
                self.motors, regs, goal_positions, kps, kds, self.stat_data[-1]):
            pos = motor.getPosition()
            vel = motor.getVelocity()
            delta = goal_position - pos
            goal_tau = kp * delta - kd * vel
            _goal_pos, _goal_tau, _pos, _vel, _tau = stat
            x = np.array([[_pos, _vel, _tau, _goal_pos, _goal_tau],
                          [pos, vel, motor.getTorque(), goal_position, goal_tau]])
            x /= np.array([[np.pi, 10, TORQUE_SCALER, np.pi, TORQUE_SCALER]])
            xs = []
            for tau in np.linspace(goal_tau/TORQUE_SCALER - search_range,
                                   goal_tau/TORQUE_SCALER + search_range,
                                   num=search_step):
                x_ = x.copy()
                x_[0,4] = tau
                xs.append(x_.flatten())
            h = reg.predict(xs)
            diff = h - goal_position
            tau = TORQUE_SCALER * xs[np.argmin(diff ** 2)][4]
            goal_tau = tau
            motor.goal_position = goal_position
            motor.goal_tau = goal_tau
            self.control.controlMIT(motor, 0, 0, 0, 0, goal_tau)
            sleep(0.00003)

    def move_towards_sync(self, goal_positions, kps, kds):
        for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
            delta = goal_position - motor.getPosition()
            v = motor.getVelocity()
            tau = kp * delta - kd * v
            motor.goal_position = goal_position
            motor.goal_tau = tau
            self.control.controlMIT(motor, 0, 0, 0, 0, tau)
            # sleep(0.00003)

    def set_goal_torque_sync(self, goal_taus):
        for motor, goal_tau in zip(self.motors, goal_taus):
            motor.goal_position = 0
            motor.goal_tau = goal_tau
            self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
            sleep(0.00003)

    def move_torque_sync(self, taus):
        for motor,tau in zip(self.motors, taus):
            motor.goal_position = 0
            motor.goal_tau = tau
            self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
            sleep(0.00003)

    def keep_torque_sync(self):
        for motor in self.motors:
            self.control.controlMIT(motor, 0, 0, 0, 0, motor.goal_tau)
            sleep(0.00003)

    async def set_goal_positions(self, goal_positions, kps):
        for motor, goal_position, kp in zip(self.motors, goal_positions, kps):
            motor.goal_position = goal_position
            motor.goal_tau = 0
            self.control.controlMIT(motor, kp, 1.2, goal_position, 0, 0)
            await asyncio.sleep(0.00003)

    def set_goal_positions_sync(self, goal_positions, kps, kds):
        for motor, goal_position, kp, kd in zip(self.motors, goal_positions, kps, kds):
            motor.goal_position = goal_position
            motor.goal_tau = 0
            self.control.controlMIT(motor, kp, kd, goal_position, 0, 0)
            sleep(0.00003)

    def set_goal_posvel(self, goal_positions):
        for motor, goal_position in zip(self.motors, goal_positions):
            motor.goal_position = goal_position
            motor.goal_tau = 0
            self.control.control_pos_force(motor, goal_position, 1, 1)

    def controlMIT(self, motor, kp, kd, q, dq, tau):
        self.control.controlMIT(self.motors[motor], kp, kd, q, dq, tau)


  • Create the damiao_test.py file

Copy the following code to damiao_test.py

damiao_motor.py
#!/usr/bin/env python3
# -*- coding: utf-8 -*-

import time
import math
import numpy as np
from damiao_motor import Motor, MotorControl, DM_Motor_Type, Control_Type

# Configuration parameters
NUM_MOTORS = 1  # Number of motors to control
CAN_INTERFACE = "can0"  # CAN interface name
CAN_BITRATE = 1000000  # CAN bus baud rate
MOTOR_TYPE = DM_Motor_Type.DM4310  # Motor model

# Sine wave parameters
FREQUENCY = 0.1  # Frequency (Hz)
AMPLITUDE = 6  # Amplitude (rad)
DURATION = 60.0  # Operation duration (s)

def main():
    # Create motor controller object
    control = MotorControl(CAN_INTERFACE, bitrate=CAN_BITRATE)
    
    # Create and add motors
    motors = []
    for i in range(NUM_MOTORS):
        motor = Motor(MOTOR_TYPE, i + 1, i + 0X10)  # CAN IDs start from 1
        control.addMotor(motor)
        motors.append(motor)
        control.enable(motor)
        print(f"Motor {i + 1} enabled")
    
    try:
        start_time = time.time()
        while time.time() - start_time < DURATION:
            current_time = time.time() - start_time
            
            # Calculate sine wave position
            position = AMPLITUDE * math.sin(2 * math.pi * FREQUENCY * current_time)
            
            # Control all motors
            for motor in motors:
                control.controlMIT(
                    motor,
                    kp=10.0,  # Position gain
                    kd=1.0,   # Velocity gain
                    q=position,  # Target position
                    dq=0.0,   # Target velocity
                    tau=0.0   # Feedforward torque
                )
            
            # Control frequency
            time.sleep(0.001)  # 1kHz control frequency
            
    except KeyboardInterrupt:
        print("\nProgram interrupted by user")
    finally:
        # Disable all motors
        for motor in motors:
            control.disable(motor)
            print(f"Motor {motor.SlaveID} disabled")

if __name__ == "__main__":
    main()

  • Run damiao_test.py
python damiao_test.py

The motor will light up green and rotate at a sinusoidal speed.

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