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Motor Connection

This guide covers the physical connection of DaMiao motors to your system.

For CAN interface bring-up and software configuration, see CAN Setup.

Wiring

CAN bus uses two wires:

Wire Description
CAN_H CAN High signal
CAN_L CAN Low signal

CAN bus motor connection diagram with CAN interface, three motors, and 120Ω termination at both ends

For CAN bus termination requirements, see Termination Resistors.

Power

Motors require a separate power supply:

  • Voltage: Check motor specifications (typically 24V or 48V)
  • Current: Must supply enough current for all motors

Power Safety

  • Ensure power supply matches motor voltage rating
  • Use appropriate fuses/circuit breakers
  • Verify polarity before connecting
  • Keep power and signal grounds connected

Power planning:

  • Total current: Sum of all motor currents
  • Voltage drop: Longer bus may have voltage drop
  • Power distribution: Consider distribution if motors are far apart

Connection Bring-Up and Validation

Use one of the following workflows to validate your setup:

Troubleshooting

Symptom Checks
No motors detected Verify power is on.
Verify CAN_H / CAN_L / GND wiring.
Verify 120 ohm termination on both ends.
Verify bitrate matches motor configuration.
Verify motor IDs are in scan range.
Intermittent communication Check loose connections.
Check cable quality for CAN use.
Keep bus length reasonable (< 40 m at 1 Mbps).
Verify termination values and placement.
Communication errors Verify all devices use the same bitrate.
Resolve motor ID conflicts.
Check physical-layer bus errors.
Verify power supply capacity/stability.
Motor not responding Enable the motor in control flow.
Check status feedback.
Clear errors if motor is in fault state.
Verify control mode matches the command type.

Safety

Safety First

  • Always ensure motors are securely mounted before powering on
  • Keep clear of moving parts during testing
  • Use low values initially to verify motor response
  • Have emergency stop mechanism available
  • Test in safe environment before production use

Further Reading