--- title: "DAMIAO DM-J4340-2EC specs" description: "Integrated Joint actuator from DAMIAO (DMBots) (China). Peak torque 27 Nm, rated 9 Nm, weight 362 g, torque density 74.6 Nm/kg, price $155." canonical: https://actuatorlist.com/actuators/damiao-dm-j4340-2ec last-updated: 2026-11-01T14:05:43.000Z --- # DM-J4340-2EC by DAMIAO (DMBots) > Integrated Joint actuator from DAMIAO (DMBots) (China). Peak torque 27 Nm, rated 9 Nm, weight 362 g, torque density 74.6 Nm/kg, price $155. ## Specifications | Spec | Value | | --- | --- | | Category | Integrated Joint | | Peak torque | 27 Nm | | Rated torque | 9 Nm | | Max speed | 53 rpm | | Gear ratio | 40:1 | | Weight | 362 g | | Torque density | 74.6 Nm/kg | | Price | $155 | | Price per Nm | $5.7 | | Backdrivable | n/a | | Backlash | n/a | | Voltage | 24 V | | Peak current | 8 A | | Communication | CAN | | Control modes | position, velocity, torque | | Encoder | dual 14-bit magnetic single-turn encoders (motor and output) | | Integrated driver | yes | | Availability | in production | | Data status | Catalog headline specs spot-checked: confirm revision | ## Size a joint - [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=9&n=52.5): **49.5 W** of shaft power at its rated 9 N·m and 52.5 rpm. - [Robot arm torque calculator](/tools/robot-arm-torque-calculator?L=0.4,0.35,0.12&m=1.2,0.8,0.3&a=0.362,0.5,0&p=2): **31.4 N·m** at the shoulder with its 362 g at the elbow of a 2 kg-payload arm. - [Humanoid robot actuators](/guides/humanoid-robot-actuators#elbow): **2 of 7 joints** within its rated torque, up to the elbow at 4.4 N·m. ## Use cases - robot arm - humanoid joint - exoskeleton ## Robots that use it - [YAM](https://actuatorlist.com/robots#i2rt-yam) by i2RT Robotics: Low-cost 6-DOF manipulator built for imitation learning and teleoperation data collection. CNC 6061 billet frame, integrated cross-roller bearings, 95 mm patent-pending gripper. - [YAM Pro](https://actuatorlist.com/robots#i2rt-yam-pro) by i2RT Robotics: Same motor set and SDK as the base YAM; the control-law difference is a stiffer J4 position gain plus build refinements. Interchangeable with Standard and Ultra in the SDK. - [YAM Ultra 2](https://actuatorlist.com/robots#i2rt-yam-ultra-2) by i2RT Robotics: Enhanced build of the 6-DOF YAM with the same Damiao motor chain and SDK as Standard and Pro, tuned for higher-duty data collection. - [BIG YAM](https://actuatorlist.com/robots#i2rt-big-yam) by i2RT Robotics: Heavier-payload 6-DOF variant. Uses DM6248 motors at the shoulders with substantially different control gains and a reversed joint 2; the only YAM whose SDK gains differ meaningfully from Standard. - [YAM Leader](https://actuatorlist.com/robots#i2rt-yam-leader) by i2RT Robotics: Teleoperation leader arm: the operator backdrives it to puppeteer a follower YAM (GELLO-style). The SDK's leader mode drives a standard YAM arm config by default (DM4340 at J1-J3, DM4310 at J4-J6) with a teaching handle in place of the gripper. ## Notes 57mm OD x 53.3mm planetary joint motor with integrated driver, used in the shoulder and elbow of the i2RT YAM arms. Specs are for the original DM-J4340-2EC in the DAMIAO manual: 9 N.m rated, 27 N.m peak, 36 rpm rated and 52.5 rpm no-load at 24V (100 rpm on the 48V build), 40:1, 3A rated and 8A peak phase current, ~362g. CAN at 1 Mbps with MIT, position-velocity, velocity and force-position modes. DAMIAO's newer DM-J4340-2EC V1.1 lifts this to 12 N.m rated / 40 N.m peak with 16-bit encoders in the same housing, and resellers may ship either. $155 is the AIFITLAB price for the 24V motor alone. ## Sources - [https://aifitlab.com/products/damiao-dm-j4340-2ec-servo-motor](https://aifitlab.com/products/damiao-dm-j4340-2ec-servo-motor) - [https://github.com/dmBots/DM-J4340-2EC](https://github.com/dmBots/DM-J4340-2EC) - [https://github.com/dmBots/DM-J4340-2EC/blob/master/manual/DM-J4340-2EC%20%20Geared%20Motor%20User%20Manual%20V1.1%202026-09-08.pdf](https://github.com/dmBots/DM-J4340-2EC/blob/master/manual/DM-J4340-2EC%20%20Geared%20Motor%20User%20Manual%20V1.1%202026-09-08.pdf) - [https://github.com/dmBots/DM-J4340-2EC/blob/master/manual/DM-J4340-2EC%20%20V1.1%20Geared%20Motor%20User%20Manual%20V1.3%202026-08-13.pdf](https://github.com/dmBots/DM-J4340-2EC/blob/master/manual/DM-J4340-2EC%20%20V1.1%20Geared%20Motor%20User%20Manual%20V1.3%202026-08-13.pdf) ## Similar Integrated Joint actuators - [EC-A4315-P2-36 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a4315-p2-36): 154.6 Nm/kg - [EC-A6416-P2-25 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a6416-p2-25): 149.1 Nm/kg - [DM-J6248P-2EC (DAMIAO (DMBots))](https://actuatorlist.com/actuators/damiao-dm-j6248p-2ec): 147 Nm/kg - [EC-A4310-P2-36 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a4310-p2-36): 94.2 Nm/kg - [RMD-X8-120 (MyActuator)](https://actuatorlist.com/actuators/myactuator-rmd-x8-120): 85.7 Nm/kg ## Catalog comparisons Catalog specifications and source caveats, not compatibility recommendations. - [DM-J4340-2EC vs DM-J4340P-2EC](/comparisons/damiao-dm-j4340-2ec-vs-damiao-dm-j4340p-2ec) - [DM-J4340-2EC vs EC-A4310-P2-36](/comparisons/damiao-dm-j4340-2ec-vs-encos-ec-a4310-p2-36) - [DM-J4340-2EC vs MG5010E-i36 V3](/comparisons/damiao-dm-j4340-2ec-vs-lkmtech-mg5010e-i36-v3) [Browse actuator comparisons](/compare). ## Machine-readable - JSON: https://actuatorlist.com/api/v1/actuators/damiao-dm-j4340-2ec - Catalog index for agents: https://actuatorlist.com/llms.txt