The AKA10-9 KV60 has more peak torque (53 N·m against 48 N·m). The AK10-9 V2.0 KV60 has a higher torque constant (0.198 N·m/A against 0.16 N·m/A), and is lighter (960 g against 1060 g), narrower (98 mm against 100 mm) and shallower (61.7 mm against 70 mm). They match on continuous torque, current draw and output speed.
The AKA10-9 KV60 is US$895 and the AK10-9 V2.0 KV60 is US$895. That is US$49.72 per rated N·m for the AKA10-9 KV60 and US$49.72 per rated N·m for the AK10-9 V2.0 KV60.
| AKA10-9 KV60 | AK10-9 V2.0 KV60 | |
|---|---|---|
| Number of Encoder | 1 | 2 |
| Reduction Ratio | 9:1 | 9:1 |
| Rated Torque (N·m) | 18 | 18 |
| OD (mm) | 100 | 98 |
| Weight (g) | 1060 | 960 |
| Peak Torque (N·m) | 53 | 48 |
| Rated Voltage (V) | 48 | 24/48 |
| Motor Constant Km (N·m/√W) | 0.32 | 0.45 |
| Rated Speed (RPM) | 109 | 109/228 |
| No-Load Speed (RPM) | 320 | — |
| Rated Current (A) | 10.6 | 10.6 |
| Peak Current (A) | 32 | 29.8 |
| Height (mm) | 70 | 61.7 |
| Kv (RPM/V) | 60 | 60 |
| Kt (N·m/A) | 0.16 | 0.198 |
| Ke (V/kRPM) | 0.0167 | 17.2 |
| Phase to Phase Resistance (mΩ) | 248 | 195 |
| Phase to Phase Inductance (μH) | 235 | 181 |
| Inertia (g·cm²) | 1002 | 1002 |
| Mechanical Time Constant (ms) | 1.90 | 0.50 |
| Electrical Time Constant (ms) | 0.94 | 0.93 |
| Pole Pairs | 14 | 21 |
| Winding Type | Star | Star Backlash (°) 0.33 |
| Operation Ambient Temperature | (℃) -20℃~50℃ | -20℃~50℃ |
| Driving Way | FOC | FOC |
| Application | WheeledRobot, AGV | Legged Robot, Exoskeleton, AGV |
| Maximum Torque Weight Ratio (N·m/kg) | — | 50 |
| Back Drive (N·m) | — | 0.8 |
| Inner Loop Encoder Type | — | Magnetic Encoder |
| Inner Ring Encoder Resolution | — | 14bit |
| Outer Ring Encoder Type | — | Magnetic Encoder |
| Outer Ring Encoder Resolution | — | 15bit |
| CAN Connector | — | A1257WR-S-4P |
| UART Connector | — | A1257WR-S-4P |
| Power Connector | — | XT30PW-M |
| Temperature Sensor | — | NTC MF51B 103F3950 |
Rows the two disagree on are marked; the figures are CubeMars'. To put any other two parts side by side, build your own comparison.