My 2014 iMac 5K did it if my iPad Air 2 was not fully charged, but my 2015 model works fine regardless of how low the battery is on the iPad so maybe the USB chipset / Southbridge changed between them.
It's odd that you're using a non powered hub and it fixes it. I would think that the hub you have would still do the same since it's still pulling the same power from the iMac.
There are some issues with USB3.0 where the port isn't being set correctly. You can solve that by using a USB2.0 hub or cable or simply a different USB3.0 hub. This doesn't have to be a powered hub.