Project files

DM-J4310-2EC Graphical Control Interface by DMM Motor

Introduction

This is a graphical control interface for the DMM DM-J4310-2EC motor, communicating via CAN using the WitMotion USB-CAN adapter.

Features

• Connect to WitMotion USB-CAN adapter via serial port
• Supports multiple motor models (DM-J4310-2EC, DM4340)
• Supports MIT control mode
• Supports trapezoidal acceleration and deceleration motion control
• Real-time display of motor status (position, speed, torque, temperature, etc.)
• Graphical parameter configuration interface

System Requirements

• Python 3.7+
• WitMotion USB-CAN adapter
• DMM motor (supports the following models):
  • DM-J4310-2EC (max torque 10 Nm, max speed 30 rad/s)
  • DM4340 (max torque 28 Nm, max speed 10 rad/s)

Supported Motor Model Comparison

Selection Recommendations:

• DM-J4310-2EC: High speed (30 rad/s), moderate torque (10 Nm), suitable for light-load, high-speed scenarios (e.g., small robotic arms, gimbals, fast-moving joints)
• DM4340: High torque (28 Nm), low speed (10 rad/s), suitable for heavy-load, high-torque scenarios (e.g., heavy-duty robotic arms, mobile robots, joints requiring large torque)

Installing Dependencies

Method 1: Using pip (Recommended for existing Python environments)

Run the following command in the tools/motor_gui directory:

pip install -r requirements.txt

Method 2: Using conda (recommended for isolated environments)

If you use Anaconda or Miniconda, you can create an independent conda environment:

# Create a conda environment named motor_gui (Python 3.9)
conda create -n motor_gui python=3.9 -y

# Activate the environment
conda activate motor_gui

# Install pyserial
conda install -c conda-forge pyserial -y

# Alternatively, install using pip (within the conda environment)
pip install -r requirements.txt

# Run the program
python motor_gui.py

# Exit the environment after use
# conda deactivate

Note: Python in conda environments usually already includes tkinter, so no additional installation is required.

Dependency Notes

• pyserial: Used for serial communication and data interaction with the USB-CAN adapter
• tkinter: Python's built-in GUI library (may require separate installation on some Linux distributions)

Additional Installation on Linux Systems

On some Linux distributions, tkinter needs to be installed separately:

Ubuntu/Debian:

sudo apt-get install python3-tk

Fedora:

sudo dnf install python3-tkinter

Arch Linux:

sudo pacman -S tk

Quick Start

Using a conda environment (recommended)

# 1. Navigate to the project directory
cd /path/to/mockway_robotics/tools/motor_gui

# 2. Create and activate the conda environment
conda create -n motor_gui python=3.9 -y
conda activate motor_gui

# 3. Install dependencies
conda install -c conda-forge pyserial -y

# 4. Launch the GUI
python motor_gui.py

# 5. For subsequent use, simply activate the environment
# conda activate motor_gui
# python motor_gui.py

Using a pip Environment

# 1. Navigate to the project directory
cd /path/to/mockway_robotics/tools/motor_gui

# 2. (Optional) Create a virtual environment
python -m venv venv
source venv/bin/activate  # Linux/macOS
# or
venv\Scripts\activate     # Windows

# 3. Install dependencies
pip install -r requirements.txt

# 4. Launch the GUI
python motor_gui.py

Usage

Start the graphical interface

python motor_gui.py

Configuration Parameters

1. Connection Configuration

   • COM port: Set the serial port number (Windows: COM9, Linux: /dev/ttyUSB0)
   • Serial baud rate: Default 921600
   • Motor Type: Select the motor model (DM-J4310-2EC or DM4340)
     • DM-J4310-2EC: Maximum torque 10 Nm, maximum speed 30 rad/s (high speed, light load)
     • DM4340: Maximum torque 28 Nm, maximum speed 10 rad/s (high torque, heavy load)
   • Click the "Connect" button to establish a connection

2. Motor Parameter Configuration

   • Motor ID: CAN bus motor ID (default 2)
   • Master ID: Host ID for receiving feedback frames (default 0)
   • Kp: Position proportional coefficient (default 40.0)
   • Kd: Position differential coefficient (default 1.0)
   • Maximum speed: Maximum speed for trapezoidal acceleration/deceleration (default 8.0 rad/s)
   • Maximum acceleration: Maximum acceleration for trapezoidal acceleration/deceleration (default 15.0 rad/s²)

3. Motor Control

   • After connection, click "Enable Motor" to activate the motor
   • Use the "Forward" and "Reverse" buttons to control motor movement
   • Hold the button: The motor accelerates to the target position
   • Release the button: The motor begins decelerating to a stop

Serial Port Settings

This program communicates with the WitMotion USB-CAN adapter via a serial port:

• Windows: Serial port names are typically COM3, COM4, COM9, etc.
• Linux: Serial port names are typically /dev/ttyUSB0, /dev/ttyUSB1, etc.
• macOS: Serial port names are typically /dev/tty.usbserial-XXXX or /dev/cu.usbserial-XXXX

View available serial ports

Linux/macOS:

ls /dev/tty*
# or
python -m serial.tools.list_ports

Windows: View ports (COM and LPT) in Device Manager

Linux Serial Port Permission Settings

If you encounter permission issues, you need to add the current user to the dialout group:

sudo usermod -a -G dialout $USER

Then log out and log back in, or run:

newgrp dialout

File Description

• motor_gui.py: Main graphical user interface program
• dm_motor_driver.py: Motor driver program, including CAN communication and motor control logic
• requirements.txt: List of Python dependency packages
• README.md: This documentation file

Troubleshooting

Unable to open the serial port

• Check whether the serial port name is correct
• Check whether the USB-CAN adapter is properly connected
• Check serial port permissions (Linux system)
• Check if another program is occupying the serial port

Unable to receive motor feedback data

• Check if the CAN bus connection is normal
• Check if the motor ID and Master ID settings are correct
• Check if the motor power supply is normal
• Check the CAN baud rate setting (default: 1,000,000)

Motor Not Responding

• Confirm that the motor is enabled
• Check the motor's error status
• Check if the motor temperature is too high
• Check if the power supply voltage is normal