The AK70-9 V3.0 KV60 without driver has more peak torque (29.2 N·m against 22 N·m) and a higher torque constant (0.159 N·m/A against 0.095 N·m/A), draws less current at its rating (6.25 A against 12 A), and is narrower (89 mm against 98 mm). The AK80-9 V3.0 KV100 without driver has more continuous torque (9 N·m against 8.5 N·m), is lighter (490 g against 540 g) and shallower (38.5 mm against 49 mm), and turns faster at the output (390 RPM against 260 RPM).
The AK70-9 V3.0 KV60 without driver is US$447 and the AK80-9 V3.0 KV100 without driver is US$537. That is US$52.59 per rated N·m for the AK70-9 V3.0 KV60 without driver and US$59.67 per rated N·m for the AK80-9 V3.0 KV100 without driver.
| AK70-9 V3.0 KV60 without driver | AK80-9 V3.0 KV100 without driver | |
|---|---|---|
| Reduction Ratio | 9:1 | 9:1 |
| Rated Torque (N·m) | 8.5 | 9 |
| OD (mm) | 89 | 98 |
| Weight (g) | 540 | 490 |
| Peak Torque (N·m) | 29.2 | 22 |
| Rated Voltage (V) | 48 | 48 |
| Rated Speed (RPM) | 260 | 390 |
| No-Load Speed (RPM) | 320 | 570 |
| Rated Current (A) | 6.25 | 12 |
| Peak Current (A) | 23.8 | 28 |
| Maximum Torque Density (N·m/kg) | 54 | 44.9 |
| Height (mm) | 49 | 38.5 |
| Backlash (arcmin) | 18 | 15 |
| Back Drive (N·m) | 0.8 | 0.51 |
| Kv (RPM/V) | 60 | 100 |
| Kt (N·m/A) | 0.159 | 0.095 |
| Ke (V/kRPM) | 16.7 | 10 |
| Phase to Phase Resistance (mΩ) | 475 | 160 |
| Phase to Phase Inductance (μH) | 408 | 116 |
| Rotor Inertia (g·cm²) | 450 | 579 |
| Motor Constant (N·m/√W) | 0.23 | 0.2387 |
| Mechanical Time Constant (ms) | 1.7 | 0.725 |
| Pole Pairs | 21 | 21 |
| Number of Slots | 24 | 36 |
| Winding Type | Delta | Delta |
| Number of Encoder | 2 | 1 |
| Inner Loop Encoder Type | Magnetic Encoder | Magnetic Encoder |
| Inner Ring Encoder Resolution | 14bit | 16bit |
| Outer Ring Encoder Type | Magnetic Encoder | — |
| Outer Ring Encoder Resolution | 15bit | — |
| CAN Connector | A1257WR-S-4P | — |
| UART Connector | A1257WR-S-3P | A1257WR-S-3P |
| Power Connector | XT30PW-M | XT30PW-M |
| Temperature Sensor | NTC MF51B 103F3950 | NTC MF51B 103F3950 |
| Noise dB (65cm away the motor) | 50 | 60 |
| Basic Dynamic Load Rating Cr (N) | 1890 | 2760 |
| Basic Static Load Rating C0r (N) | 2140 | 2810 |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | C | C |
| Driving Way | FOC | FOC |
| Application | Legged Robot, Exoskeleton, AGV | Legged Robot, Exoskeleton, AGV |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.