The AK10-9 V3.0 KV60 has a higher torque constant (0.16 N·m/A against 0.12 N·m/A), and turns faster at the output (235 RPM against 70 RPM). The AK60-39 V3.0 has more continuous torque (24 N·m against 18 N·m) and more peak torque (72 N·m against 53 N·m), draws less current at its rating (4.5 A against 10.7 A), and is lighter (750 g against 940 g), narrower (79 mm against 98 mm) and shallower (48.5 mm against 61.7 mm).
The AK10-9 V3.0 KV60 is US$895 and the AK60-39 V3.0 is US$503. That is US$49.72 per rated N·m for the AK10-9 V3.0 KV60 and US$20.96 per rated N·m for the AK60-39 V3.0.
| AK10-9 V3.0 KV60 | AK60-39 V3.0 | |
|---|---|---|
| Reduction Ratio | 9:1 | 39:1 |
| Rated Torque (N·m) | 18 | 24 |
| OD (mm) | 98 | 79 |
| Weight (g) | 940 | 750 |
| Peak Torque (N·m) | 53 | 72 |
| Motor Constant Km (N·m/√W) | 0.32 | — |
| Rated Voltage (V) | 48 | 48 Outer Ring Encoder type Magnetic Encoder |
| Rated Speed (RPM) | 235 | 70 |
| Rated Current (A) | 10.7 | 4.5 |
| Peak Current (A) | 31.9 | 17 |
| Maximum Torque Weight Ratio (N·m/kg) | 86 | — |
| Height (mm) | 61.7 | 48.5 |
| Back Drive (N·m) | 0.8 | 1.4 |
| Kv (RPM/V) | 60 | 80 |
| Kt (N·m/A) | 0.16 | 0.12 |
| Ke (V/kRPM) | 16.7 | 12.5 |
| Phase to Phase Resistance (mΩ) | 248 | 600 |
| Phase to Phase Inductance (μH) | 213 | 670 |
| Inertia (g·cm²) | 1002 | — |
| Mechanical Time Constant (ms) | 0.5 | 2.39 |
| Electrical Time Constant (ms) | 0.93 | — |
| Pole Pairs | 21 | 14 |
| Winding Type | Star Backlash (°) 0.33 | Star |
| Number of Encoder | 2 | 2 |
| Inner Ring Encoder Resolution | 21bit | 21bit |
| Outer Ring Encoder Type | Magnetic Encoder | — |
| Outer Ring Encoder Resolution | 15bit | 21bit |
| CAN Connector | XT30PW(2+2)-M | A1257WR-S-3P |
| UART Connector | A1257WR-S-3P | XT30PW-M |
| Power Connector | Magnetic Encoder | — |
| 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 |
| No-Load Speed (RPM) | — | 98 |
| Maximum Torque Density (N·m/kg) | — | 96 |
| Backlash (arcmin) | — | 15 |
| Rotor Inertia (g·cm²) | — | 305 |
| Motor Constant (N·m/√W) | — | 0.15 |
| Number of Slots | — | 24 |
| Inner Loop Encoder Type | — | Magnetic Encoder |
| Basic Dynamic Load Rating Cr (N) | — | 2000 |
| Basic Static Load Rating C0r (N) | — | 2520 |
| Insulation Level | — | C |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.