The AK70-9 V3.0 KV60 without driver has more continuous torque (8.5 N·m against 8.3 N·m), more peak torque (29.2 N·m against 24.8 N·m) and a higher torque constant (0.159 N·m/A against 0.123 N·m/A), draws less current at its rating (6.25 A against 7.2 A), is lighter (540 g against 621 g) and shallower (49 mm against 50.25 mm), and turns faster at the output (260 RPM against 148/310 RPM). They match on diameter.
The AK70-9 V3.0 KV60 without driver is US$447 and the AK70-10 KV100 without driver is US$447. That is US$52.59 per rated N·m for the AK70-9 V3.0 KV60 without driver and US$53.86 per rated N·m for the AK70-10 KV100 without driver.
| AK70-9 V3.0 KV60 without driver | AK70-10 KV100 without driver | |
|---|---|---|
| Reduction Ratio | 9:1 | 10:1 |
| Rated Torque (N·m) | 8.5 | 8.3 |
| OD (mm) | 89 | 89 |
| Weight (g) | 540 | 621 |
| Peak Torque (N·m) | 29.2 | 24.8 |
| Rated Voltage (V) | 48 | 24/48 |
| Rated Speed (RPM) | 260 | 148/310 |
| No-Load Speed (RPM) | 320 | — |
| Rated Current (A) | 6.25 | 7.2 |
| Peak Current (A) | 23.8 | 23.2 |
| Maximum Torque Density (N·m/kg) | 54 | — |
| Height (mm) | 49 | 50.25 |
| Backlash (arcmin) | 18 | — |
| Back Drive (N·m) | 0.8 | 0.48 |
| Kv (RPM/V) | 60 | 100 |
| Kt (N·m/A) | 0.159 | 0.123 |
| Ke (V/kRPM) | 16.7 | 11.2 |
| Phase to Phase Resistance (mΩ) | 475 | 272 |
| Phase to Phase Inductance (μH) | 408 | 113 |
| Rotor Inertia (g·cm²) | 450 | — |
| Motor Constant (N·m/√W) | 0.23 | — |
| Mechanical Time Constant (ms) | 1.7 | 0.74 |
| Pole Pairs | 21 | 21 |
| Number of Slots | 24 | — |
| Winding Type | Delta | Delta Backlash (°) 0.12 |
| Number of Encoder | 2 | 1 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Inner Ring Encoder Resolution | 14bit | 14bit |
| Outer Ring Encoder Type | Magnetic Encoder | — |
| Outer Ring Encoder Resolution | 15bit | — |
| CAN Connector | A1257WR-S-4P | A1257WR-S-4P |
| UART Connector | A1257WR-S-3P | A1257WR-S-4P |
| Power Connector | XT30PW-M | XT30PW-M |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 50 | — |
| Basic Dynamic Load Rating Cr (N) | 1890 | — |
| Basic Static Load Rating C0r (N) | 2140 | — |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | — |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
| Motor Constant Km (N·m/√W) | — | 0.24 |
| Maximum Torque Weight Ratio (N·m/kg) | — | 47.6 |
| Inertia (g·cm²) | — | 414 |
| Electrical Time Constant (ms) | — | 0.42 |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.