Unitree IM6014 Motor

Application Scenarios

Humanoid Robots

Robotic Arms

Exoskeletons

Quadruped Robots

AGV Vehicles

ARU Robots

Parameter	Value
Performance Features：
Motor Model	N6014B-12.6
Motor Weight	535g
Dimensions	φ65*60mm
Max (No-load) Speed	54.2 rad/s（60v）
Input Voltage	24v~75v
Reduction Ratio	3:38
Max Line Current	40A
Peak Torque (Output torque opposite to rotation direction)	34.4 N.m
Peak Torque (Output torque same as rotation direction)	31.7 N.m
Operating Temperature：
Min Temperature	-20℃
Max Temperature	Drive board stops and reports overheat error if exceeding 90°C Winding stops and reports overheat error if exceeding 130°C
Others：
Baud Rate	6000000bps/4000000bps
Control Algorithm	Hybrid Control
Gear Material	Metal
Housing Material	Aluminum alloy + high-strength engineering plastic
Encoder Resolution	15bit
Protocol Type	igh-speed RS485 communication (8bit, 1stop, No Parity)
Link (Physical)	RS485 Multi-drop Bus
ID	0-14
Position Sensor	Rotor, Output, Dual absolute encoder
Command Signal	Motor ID, Operation Mode, Timeout Protection, Feedforward Torque, Target Speed, Target Position, Position Stiffness, Velocity Stiffness
Operating Environment	Temperature: -5°C ~ 65°C; Relative Humidity: 10%RH ~ 85%RH.
otor Feedback	Torque, Angle, Angular Velocity, Temperature, Voltage, Error Status
Motor Control	orque, Angle, Angular Velocity, Feedforward Torque, Position Stiffness, Velocity Stiffness
Warranty	3 Months