Unitree GO-M8010-6 | Payload Website Template

The GO-M8010-6 permanent magnet synchronous motor is designed for high-performance robots and provides a strong driving force with a high level of integration.

CAUTION

1. The maximum allowable voltage of the GO-8010-6 motor is 30V, please be sure to operate following the relevant safety regulations.

2. When using AC-DC/DC-DC switching power supply, it is forbidden to insert the XT30 2+2 power supply connector with power on. Please connect the motor power supply plug before turning on the power supply. (Because the voltage range of some SMPS is insufficient, power-on will cause a strong peak voltage and damage the motor drive)

3. If there is a power generation condition when the motor is working, please ensure that your power supply has the ability to recover or use battery power to avoid overloading the bus voltage.

4. Please pay attention to controlling the motor parameters when using, do not make the output torque too large or install the large inertia load at the end of the motor.

5. Please check if the motor is normal and if there is a motor stall, etc. before use. If any abnormal, please replace it in time.

6. Please pay attention to the temperature of the motor and do not touch its surface to avoid burns.

7. When installing and unloading the mechanical structure of the output terminal, be sure to disconnect the motor power.

Motor Wire Connection

The GO-8010-6 motor uses RS-485 as its physical layer, which refers to the use of physical phenomena to transmit and express information. Essentially, RS-485 can be seen as a half-duplex serial port (UART).

RS-485 transmits digital signals by using the potential difference between two wires, typically a twisted pair of equal length. When external interference occurs, noise affects both wires simultaneously. After the differential signal reaches the motor, a differential operational amplifier subtracts the noise from the input signal, restoring the original level before passing it to the serial port. This process gives RS-485 strong anti-interference capabilities.

Connector: XT30 (2+2)

The 485 interface is 5V standard. To ensure the communication quality, please ensure that the USB interface is powered stably!

Motor Power Wire Gauge: No less than 16 AWG

Motor Parallel Diagram

When using multiple motors, they can be cascaded in multiple stages, and appropriate 120Ω termination resistors should be added at both the beginning and end. The electrical connection methods are shown in diagrams (a) and (b) below.

The Go-M8010-6 motor supports a maximum of 15 motors on a single bus (ID range: 0 to 14). There must not be any motors with duplicate IDs on the same bus, otherwise, the entire bus communication will malfunction. For motor ID configuration, please refer to section 6.2.

To send motion control commands to the joint motors manufactured by Unitree Robotics, the commands need to be issued via a serial port. The motor communicates with the host through an RS-485 interface, with a fixed baud rate of 4 Mbps.