DEEP Robotics J60-10 Joint Motor

DEEP Robotics J60-10 is a high-performance smart joint actuator that powers many of the company's quadruped robots, such as the Lite3 series. It features an "all-in-one" integrated design that combines a planetary gear reducer, a frameless torque motor, a servo driver, and an absolute encoder into a single compact unit.

Performance Specifications
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Peak Torque: 30.50 Nm.
Rated Torque: 9.58 Nm @ 24V.
Maximum Speed: 15.49 rad/s @ 24V.
Torque-to-Weight Ratio: 56.48 Nm/kg.
Torque Constant: 1.3473 Nm/A.

Electrical & Mechanical Specs
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Weight: 540g.
Dimensions: 76.5 mm (Diameter) × 72.5 mm (Length).
Operating Voltage: DC 18V – 36V (Standard 24V).
Maximum Current: 18A (RMS) / 30A (Peak phase current).
Encoder: 14-bit resolution absolute encoder.
Reducer Type: Planetary Gear.

Communication & Control
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Interface: Dual support for CAN bus (1 Mbps / 1 kHz frequency) and Serial port.
Development Kit: Includes a C-based SDK for Linux and visual debugging software compatible with both Windows and Linux.
Control Commands: Supports Angle (P), Angular Velocity (V), Torque (T), Stiffness (Kp), and Damping (Kd).
Safety Features: Built-in real-time monitoring for temperature, input current, and voltage with overtemperature protection thresholds (125℃ for the motor).