The AK40-10 KV170 is shallower (37 mm against 40.2 mm). The AK40-10 V3.0 KV170 is lighter (190 g against 200 g). They match on continuous torque, peak torque, torque constant, current draw, diameter and output speed.
The AK40-10 KV170 is US$112 and the AK40-10 V3.0 KV170 is US$152. That is US$86.15 per rated N·m for the AK40-10 KV170 and US$116.92 per rated N·m for the AK40-10 V3.0 KV170.
| AK40-10 KV170 | AK40-10 V3.0 KV170 | |
|---|---|---|
| Reduction Ratio | 10:1 | 10:1 |
| Rated Torque (N·m) | 1.3 | 1.3 |
| OD (mm) | 53 | 53 |
| Weight (g) | 200 | 190 |
| Peak Torque (N·m) | 4.1 | 4.1 |
| Rated Voltage (V) | 24 | 24 |
| Rated Speed (RPM) | 370 | 370 |
| No-Load Speed (RPM) | 435 | 435 |
| Rated Current (A) | 2.7 | 2.7 |
| Peak Current (A) | 7.3 | 7.3 |
| Maximum Torque Density (N·m/kg) | 20.5 | 20.5 |
| Height (mm) | 37 | 40.2 |
| Backlash (arcmin) | 18 | 18 |
| Kv (RPM/V) | 170 | 170 |
| Kt (N·m/A) | 0.056 | 0.056 |
| Ke (V/kRPM) | 5.88 | 5.88 |
| Phase to Phase Resistance (mΩ) | 978 | 978 |
| Phase to Phase Inductance (μH) | 465 | 465 |
| Rotor Inertia (g·cm²) | 540 | 97.35 |
| Motor Constant (N·m/√W) | 0.0568 | 0.0568 |
| Mechanical Time Constant (ms) | 2.2 | — |
| Pole Pairs | 14 | 14 |
| Number of Slots | 24 | 24 |
| Winding Type | Delta | — |
| Number of Encoder | 1 | 2 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder MT6835 |
| Inner Ring Encoder Resolution | 14bit | 16bit |
| CAN Connector | A1257WR-S-3P | XT30PW (2+2) -M |
| UART Connector | A1257WR-S-3P | A1257WR-S-3P |
| Power Connector | XT30PW-M | — |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 50 | 50 |
| Basic Dynamic Load Rating Cr (N) | 2810 | 2810 |
| Basic Static Load Rating C0r (N) | 2760 | 2760 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | C |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Back Drive (N·m) | — | 0.06 |
| Outer Ring Encoder Type | — | Magnetic Encoder MT6835 |
| Outer Ring Encoder Resolution | — | 16bit |
| Communication Method | — | CAN |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.