Unitree IM6014 Motor for Humanoid Robots, Robot Dogs & Robotic Arms

Performance Characteristics Model N6014B-12.6 Weight 535 g Dimensions Ø65 × 60 mm Maximum No-Load Speed 54.2 rad/s @ 60 V Input Voltage 24–75 V Gear Ratio 3:38 (approx. 12.66:1) Maximum Line Current 40 A Maximum Torque Opposite direction of rotational speed 34.4 Nm Maximum Torque Same direction as rotational speed 31.7 Nm Temperature Minimum Operating Temperature -20°C Driver Overheat Protection Driver board shuts down and reports an overheat error above 90°C Winding Overheat Protection Winding shuts down and reports an overheat error above 130°C Control & Communication Baud Rate 6,000,000 bps / 4,000,000 bps Control Algorithm Hybrid Control Protocol High-Speed RS-485 Communication 8-bit, 1 stop bit, no parity Physical Connection RS-485 Multidrop Bus Motor ID 0–14 Encoder Resolution 15-bit Position Sensor Rotor-side and output-side dual absolute encoders Construction Gear Material Metal Shell Material Aluminum alloy + high-strength engineering plastic Commands & Feedback Command Signals Motor ID, operating mode, timeout protection, feedforward torque, target velocity, target position, position stiffness, velocity stiffness Motor Feedback Torque, angle, angular velocity, temperature, voltage, error status, fault status Motor Control Torque, angle, angular velocity, feedforward torque, position stiffness, velocity stiffness Warranty 3 months