Looking at the DM-J6248P-2EC for a shoulder joint that will spend a lot of time holding a static load at 24V. The headline numbers are 30 N·m rated and 97 N·m peak, but I need to know how long it can actually hold near rated torque at zero speed, how long the peak can be sustained, and what the thermal limits are.
Does the documentation cover this? And does it support dual encoders and CAN FD?
Here is what the manufacturer specifies for the DM-J6248P-2EC:
Yes, it supports dual encoders and CAN / CAN FD communication.
On your real question: no, the current manufacturer documentation does not give continuous holding torque at zero or low speed, peak-torque duration or duty cycle, or specific thermal operating conditions. A torque-speed curve is included, but it does not give numerical speed points at 13.4 N·m or 30 N·m, and there is no detailed 24 V vs 48 V performance comparison either.
The DAMIAO product selection manual and user manual are available if you want them for reference. For the static-hold case you describe, we would recommend either asking DAMIAO for test data or running your own thermal test at the duty you expect.