The AKA10-9 KV60 draws less current at its rating (10.6 A against 10.7 A). The AK10-9 V3.0 KV60 is lighter (940 g against 1060 g), narrower (98 mm against 100 mm) and shallower (61.7 mm against 70 mm), and turns faster at the output (235 RPM against 109 RPM). They match on continuous torque, peak torque and torque constant.
The AKA10-9 KV60 is US$895 and the AK10-9 V3.0 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 V3.0 KV60.
| AKA10-9 KV60 | AK10-9 V3.0 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 | 940 |
| Peak Torque (N·m) | 53 | 53 |
| Rated Voltage (V) | 48 | 48 |
| Motor Constant Km (N·m/√W) | 0.32 | 0.32 |
| Rated Speed (RPM) | 109 | 235 |
| No-Load Speed (RPM) | 320 | — |
| Rated Current (A) | 10.6 | 10.7 |
| Peak Current (A) | 32 | 31.9 |
| Height (mm) | 70 | 61.7 |
| Kv (RPM/V) | 60 | 60 |
| Kt (N·m/A) | 0.16 | 0.16 |
| Ke (V/kRPM) | 0.0167 | 16.7 |
| Phase to Phase Resistance (mΩ) | 248 | 248 |
| Phase to Phase Inductance (μH) | 235 | 213 |
| Inertia (g·cm²) | 1002 | 1002 |
| Mechanical Time Constant (ms) | 1.90 | 0.5 |
| 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) | — | 86 |
| Back Drive (N·m) | — | 0.8 |
| Inner Ring Encoder Resolution | — | 21bit |
| Outer Ring Encoder Type | — | Magnetic Encoder |
| Outer Ring Encoder Resolution | — | 15bit |
| CAN Connector | — | XT30PW(2+2)-M |
| UART Connector | — | A1257WR-S-3P |
| Power Connector | — | Magnetic Encoder |
| 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.