The AK10-9 V3.0 KV60 has more peak torque (53 N·m against 48 N·m), is lighter (940 g against 960 g), and turns faster at the output (235 RPM against 109/228 RPM). The AK10-9 V2.0 KV60 has a higher torque constant (0.198 N·m/A against 0.16 N·m/A), and draws less current at its rating (10.6 A against 10.7 A). They match on continuous torque, diameter and depth.
The AK10-9 V3.0 KV60 is US$895 and the AK10-9 V2.0 KV60 is US$895. That is US$49.72 per rated N·m for the AK10-9 V3.0 KV60 and US$49.72 per rated N·m for the AK10-9 V2.0 KV60.
| AK10-9 V3.0 KV60 | AK10-9 V2.0 KV60 | |
|---|---|---|
| Reduction Ratio | 9:1 | 9:1 |
| Rated Torque (N·m) | 18 | 18 |
| OD (mm) | 98 | 98 |
| Weight (g) | 940 | 960 |
| Peak Torque (N·m) | 53 | 48 |
| Motor Constant Km (N·m/√W) | 0.32 | 0.45 |
| Rated Voltage (V) | 48 | 24/48 |
| Rated Speed (RPM) | 235 | 109/228 |
| Rated Current (A) | 10.7 | 10.6 |
| Peak Current (A) | 31.9 | 29.8 |
| Maximum Torque Weight Ratio (N·m/kg) | 86 | 50 |
| Height (mm) | 61.7 | 61.7 |
| Back Drive (N·m) | 0.8 | 0.8 |
| Kv (RPM/V) | 60 | 60 |
| Kt (N·m/A) | 0.16 | 0.198 |
| Ke (V/kRPM) | 16.7 | 17.2 |
| Phase to Phase Resistance (mΩ) | 248 | 195 |
| Phase to Phase Inductance (μH) | 213 | 181 |
| Inertia (g·cm²) | 1002 | 1002 |
| Mechanical Time Constant (ms) | 0.5 | 0.50 |
| Electrical Time Constant (ms) | 0.93 | 0.93 |
| Pole Pairs | 21 | 21 |
| Winding Type | Star Backlash (°) 0.33 | Star Backlash (°) 0.33 |
| Number of Encoder | 2 | 2 |
| Inner Ring Encoder Resolution | 21bit | 14bit |
| Outer Ring Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Outer Ring Encoder Resolution | 15bit | 15bit |
| CAN Connector | XT30PW(2+2)-M | A1257WR-S-4P |
| UART Connector | A1257WR-S-3P | A1257WR-S-4P |
| Power Connector | Magnetic Encoder | XT30PW-M |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Inner Loop Encoder Type | — | Magnetic Encoder |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.