# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Motors

## Location

## Motors

### Pepper 1.8

| Motor type 1 | Motor type 2 | Motor type 3 | Motor type 4 | Motor type 5 | Motor type 6
--- | --- | --- | --- | --- | --- | ---
Family | Brush DC Coreless | BLDC (Brushless DC)
Model | SE24P2CTCA | SE24M1RTCA | SE15KOVTTLA | EC-45_50W | EC45_70W | FL45BLW27
No load speed (rpm) | 5 715 | 8 459 | 7 310 | 4 730 | 6 110 | 6 110
Torque constant (mNm/A) | 27.5 | 19.2 | 21.2 | 47.5 | 36.9 | 36.9
Stall torque (mNm) | 122.9 | 61.7 | 14.71 | 402 | 1460 | 780
Max Continuous torque (mNm) | 42.9 | 23.8 | 3.68 | 69.6 | 128 | 130
Speed Reduction ratio | 101.3 | 118.1 | Type A: 50.61 | 108.33 | 108.33 | 25
Type B: 36.24

#### Head

Joint | Motor
HeadYaw | Type 1
HeadPitch | Type 2

#### Arms

Joint | Motor
ShoulderPitch | Type 1
ShoulderRoll | Type 2
ElbowYaw | Type 1
ElbowRoll | Type 2

#### Hands

Joint / Actuator | Motor | Reduction ratio
WristYaw | Type 3 | Type A
Hand | Type 3 | Type B

#### Leg

Joints | Motor
HipRoll | Type 4
HipPitch | Type 5
KneePitch | Type 5
WheelFL | Type 6
WheelFR | Type 6
WheelB | Type 6

### Former versions

| Motor type 1 | Motor type 2 | Motor type 3 | Motor type 4 | Motor type 5
--- | --- | --- | --- | --- | ---
Family | Brush DC Coreless | BLDC (Brushless DC)
Model | SE24P2CTCA | SE24M1RTCA | 17N88208E | EC-45_50W | EC45_70W
No load speed (rpm) | 5 715 | 8 459 | 8 400 | 4 730 | 6 110
Torque constant (mNm/A) | 27.5 | 19.2 | 20.1 | 47.5 | 36.9
Stall torque (mNm) | 122.9 | 61.7 | 9.4 | 402 | 1460
Max Continuous torque (mNm) | 42.9 | 23.8 | 4.9 | 69.6 | 128
Speed Reduction ratio - Type A | 101.3 | 118.1 | 50.61 | 108.33 | 108.33
Speed Reduction ratio - Type B |  |  | 36.24 |  | 25

#### Head

Joint | Motor | Reduction ratio
HeadYaw | Type 1 | Type A
HeadPitch | Type 2 | Type A

#### Arms

Joint | Motor | Reduction ratio
ShoulderPitch | Type 1 | Type A
ShoulderRoll | Type 2 | Type A
ElbowYaw | Type 1 | Type A
ElbowRoll | Type 2 | Type A

#### Hands

Joint / Actuator | Motor | Reduction ratio
WristYaw | Type 3 | Type A
Hand | Type 3 | Type B

#### Leg

Joints | Motor | Reduction ratio
HipRoll | Type 4 | Type A
HipPitch | Type 5 | Type A
KneePitch | Type 5 | Type A
WheelFL | Type 5 | Type B
WheelFR | Type 5 | Type B
WheelB | Type 5 | Type B

Glossary Site map Index Support Contact Legal Notices