Unitree A1 Motor

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Technical Specifications

Last Updated: 2026-10-09

Identity
Brand
Product Number	A1-M-01
Category	Robotics
Performance
Torque	40.0V4,744.00 oz-in
Speed	40.0V0.05 sec/60°
Stall Current	20–40 AAbove Average
Rated Output Power	260.0 W
Radial Load	500.0 N
Physical
Weight	21.34 ozAverage
Shape	Cylindrical
Dimensions	L 3.15 in W — H — ∅ 3.15 in
Case Material	Aluminum
Drivetrain
Motor Type	Brushless
Motor Drive	FET
Gears	Steel
Gear Ratio	9.1:1
Shaft Size	10.0 mm
Rotation/Support	Dual Bearings
Backlash	0.050°
Control & Signal
Modulation	Digital
Direction	Bidirectional
Dead Band	1 µs
Refresh Rate	1000 Hz
Angle Sensor	Magnetic Encoder
Control System	RS485
Programmable	Yes
Resolution	32,768 pulse/rev
MCU	STM32
Operating Modes	Position, Velocity, Torque
Signal Voltage	5V
Electrical & Environment
Operating Voltage	20–40 V
Power Source	External
Temperature	-10–60 °C
Water Rating	IP67
Certification	CE
Idle Current	200.000 A
Connectivity
Wire Length	300 mm
Baud Rate	4.8 Mbps

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*Based on known specs.

Class Comparison

Weight	Average Lighter than 43% of 31 Digital Custom servos
Stall Current	Above Average Lower draw than 69% of 27 Digital Custom servos

Performance Analysis

Torque Density	7.8413 oz-in/g
Speed-to-Weight	0.03314 (1/sec·g)
Speed-Torque Trade-off	236.59
Current-per-Torque Ratio	0.0084 A/oz-in
Voltage Range Width	20.0 V 4th-highest voltage range width of 31 Digital Custom servos

Notes

Highly integrated joint motor with planetary reducer, 15-bit encoder, and FOC control. Features real-time feedback of torque, angle, and temperature. Designed for high-performance quadruped robots. Rated for 33.5 Nm peak torque.