The AK60-6 V3.0 KV80 has a higher torque constant (0.135 N·m/A against 0.078 N·m/A), and draws less current at its rating (3.8 A against 6.5 A). The AK60-6 V1.1 KV140 is lighter (368 g against 380 g) and shallower (39.5 mm against 43 mm), and turns faster at the output (420 RPM against 233/490 RPM). They match on continuous torque, peak torque and diameter.
The AK60-6 V3.0 KV80 is US$335 and the AK60-6 V1.1 KV140 is US$335. That is US$111.67 per rated N·m for the AK60-6 V3.0 KV80 and US$111.67 per rated N·m for the AK60-6 V1.1 KV140.
| AK60-6 V3.0 KV80 | AK60-6 V1.1 KV140 | |
|---|---|---|
| Reduction Ratio | 6:1 | 6:1 |
| Rated Torque (N·m) | 3 | 3 |
| OD (mm) | 79 | 79 |
| Weight (g) | 380 | 368 |
| Peak Torque (N·m) | 9 | 9 |
| Motor Constant Km (N·m/√W) | 0.15 | 0.17 |
| Rated Voltage (V) | 24/48 | 24 |
| Rated Speed (RPM) | 233/490 | 420 |
| Rated Current (A) | 3.8 | 6.5 |
| Peak Current (A) | 0.3/11.2 | 22.7 |
| Maximum Torque Weight Ratio (N·m/kg) | 23.68 | 24.46 |
| Height (mm) | 43 | 39.5 |
| Back Drive (N·m) | 0.2 | 0.2 |
| Kv (RPM/V) | 80 | 140 |
| Kt (N·m/A) | 0.135 | 0.078 |
| Ke (V/kRPM) | 12.5 | 7.5 |
| Phase to Phase Resistance (mΩ) | 595 | 202 |
| Phase to Phase Inductance (μH) | 676 | 138 |
| Inertia (g·cm²) | 243.5 | 243.5 |
| Mechanical Time Constant (ms) | 0.81 | 0.81 |
| Electrical Time Constant (ms) | 0.69 | 0.68 |
| Pole Pairs | 14 | 14 |
| Winding Type | Star Backlash (°) 0.55 | Delta Backlash (°) 0.55 |
| Number of Encoder | 1 | 1 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Inner Ring Encoder Resolution | 16bit | 14bit |
| CAN Connector | XT30PW(2+2)-M | A1257WR-S-4P |
| UART Connector | A1257WR-S-3P | A1257WR-S-4P |
| 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 |
| Power Connector | — | XT30PW-M |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.