---
title: "DAMIAO DM-J8009-2EC specs"
description: "Cycloidal / Premium actuator from DAMIAO (DMBots) (China). Peak torque 40 Nm, rated 20 Nm, weight 896 g, torque density 44.6 Nm/kg, price $385."
canonical: https://actuatorlist.com/actuators/damiao-dm-j8009-2ec
last-updated: 2026-11-01T14:05:43.000Z
---
# DM-J8009-2EC by DAMIAO (DMBots)

> Cycloidal / Premium actuator from DAMIAO (DMBots) (China). Peak torque 40 Nm, rated 20 Nm, weight 896 g, torque density 44.6 Nm/kg, price $385.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Cycloidal / Premium |
| Peak torque | 40 Nm |
| Rated torque | 20 Nm |
| Max speed | 160 rpm |
| Gear ratio | 9:1 |
| Weight | 896 g |
| Torque density | 44.6 Nm/kg |
| Price | $385 |
| Price per Nm | $9.6 |
| Backdrivable | yes |
| Backlash | n/a |
| Voltage | 24 V |
| Peak current | n/a |
| Communication | CAN |
| Control modes | position, velocity, torque |
| Encoder | dual magnetic encoder |
| 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=20&n=160): **335 W** of shaft power at its rated 20 N·m and 160 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=0.896,0.5,0&p=2): **33.5 N·m** at the shoulder with its 896 g at the elbow of a 2 kg-payload arm.

## Use cases

- robot arm
- exoskeleton
- quadruped leg

## Notes

98mm OD x 61.7mm integrated joint motor, MIT driver + dual magnetic encoders, CAN bus at 1 Mbps with telemetry (speed/position/torque/temperature). 20 N.m rated, 40 N.m peak, ~100 rpm rated output, 9:1, 24V. Supports MIT, speed and position modes. User manual lists ~896g. DM-J8009P-2EC variant uses a crossed-roller output bearing instead of the deep-groove bearing. Priced at $385 on Foxtech (authorized DAMIAO distributor, USD). Maximum no-load speed 160 rpm at the 24 V rated voltage (320 rpm at 48 V) per DAMIAO user manual V1.1 specifications table.

## Sources

- [https://www.dronegearup.com/products/damiao-dm-j8009-2ec-24-v-20-n-m-9-1-98-mm-od-dual-encoder-integrated-robot-motor-with-can-1-mbps/](https://www.dronegearup.com/products/damiao-dm-j8009-2ec-24-v-20-n-m-9-1-98-mm-od-dual-encoder-integrated-robot-motor-with-can-1-mbps/)
- [https://github.com/dmBots/DM-J8009-2EC](https://github.com/dmBots/DM-J8009-2EC)
- [https://manuals.plus/damiao/dm-j8009-2ec-servo-motor-manual](https://manuals.plus/damiao/dm-j8009-2ec-servo-motor-manual)
- [https://store.foxtech.com/dm-j8009-2ec-mit-driven-brushless-servo-joint-motor-with-dual-encoders-gear-reduction-for-robotic-arms/](https://store.foxtech.com/dm-j8009-2ec-mit-driven-brushless-servo-joint-motor-with-dual-encoders-gear-reduction-for-robotic-arms/)
- [https://github.com/dmBots/DM-J8009-2EC/blob/master/manual/DM-J8009-2EC%20Gear%20Motor%20User%20Manual%20V1.1(4).pdf](https://github.com/dmBots/DM-J8009-2EC/blob/master/manual/DM-J8009-2EC%20Gear%20Motor%20User%20Manual%20V1.1(4).pdf)

## Similar Cycloidal / Premium actuators

- [RV-42N (RV-N cycloidal reducer) (Nabtesco)](https://actuatorlist.com/actuators/nabtesco-rv-42n): 327 Nm/kg
- [DM-J10010-2EC (DAMIAO (DMBots))](https://actuatorlist.com/actuators/damiao-dm-j10010-2ec): 101 Nm/kg
- [SCA QDD-Lite-NE30-36 (INNFOS (Mintasca))](https://actuatorlist.com/actuators/innfos-sca-qdd-lite-ne30-36): 43.1 Nm/kg
- [M107 Joint Motor (Unitree Robotics)](https://actuatorlist.com/actuators/unitree-m107): n/a
- [GIM8115-36 (SteadyWin)](https://actuatorlist.com/actuators/steadywin-gim8115-36): n/a

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/damiao-dm-j8009-2ec
- Catalog index for agents: https://actuatorlist.com/llms.txt