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

# Motors

| Motor Type 1 | Motor Type 2 | Motor Type 3 | Motor Type 4 | Motor Type 5
--- | --- | --- | --- | --- | ---
Model | 22NT Z13 | 17N | 16GT | DCX 16S | 22NT Z20
No load speed | 8 700 rpm ±10% | 8 400 rpm ±12% | 10 700 rpm ±10% | 11 400 rpm ±10% | 8 700 rpm ±10%
Stall torque | 65 mNm ±8% | 9.4 mNm ±8% | 14.3 mNm ±8% | 22.4 mNm ±10% | 65 mNm ±8%
Nominal torque | 17.8 mNm max | 4.9 mNm max | 6.2 mNm max | 2.6 mNm max | 17.8 mNm max
| Speed Reduction Ratio A
201.3 | 50.61 | 150.27 | 150.27 | 130.85
HipYawPitch, HipRoll, AnkleRoll | WristYaw | HeadYaw, ElbowYaw | ShoulderPitch | HipPitch, KneePitch, AnklePitch
Speed Reduction Ratio B
| 36.24 | 173.22 |
| Hand | HeadPitch, ShoulderRoll, ElbowRoll |

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