The AKE50-8 KV110 has a higher torque constant (0.104 N·m/A against 0.078 N·m/A), draws less current at its rating (3 A against 6.5 A), and is lighter (190 g against 368 g), narrower (61.2 mm against 79 mm) and shallower (22.5 mm against 39.5 mm). The AK60-6 V1.1 KV140 has more continuous torque (3 N·m against 2.5 N·m) and more peak torque (9 N·m against 7.5 N·m), and turns faster at the output (420 RPM against 240 RPM).
The AKE50-8 KV110 is US$190 and the AK60-6 V1.1 KV140 is US$335. That is US$76.00 per rated N·m for the AKE50-8 KV110 and US$111.67 per rated N·m for the AK60-6 V1.1 KV140.
| AKE50-8 KV110 | AK60-6 V1.1 KV140 | |
|---|---|---|
| Reduction Ratio | 8:1 | 6:1 |
| Rated Torque (N·m) | 2.5 | 3 |
| OD (mm) | 61.2 | 79 |
| Weight (g) | 190 | 368 |
| Peak Torque (N·m) | 7.5 | 9 |
| Rated Voltage (V) | 24 | 24 |
| Rated Speed (RPM) | 240 | 420 |
| No-Load Speed (RPM) | 320 | — |
| Rated Current (A) | 3 | 6.5 |
| Peak Current (A) | 9 | 22.7 |
| Maximum Torque Weight Ratio (N·m/kg) | 39.5 | 24.46 |
| Height (mm) | 22.5 | 39.5 |
| Max Continuous Power (W) | 65 | — |
| Backlash (arcmin) | 9 | — |
| Backdrivable Torque (N·m) | 0.09 | — |
| Rotor Inertia (g·cm²) | 153.81 | — |
| Motor Constant (N·m/√W) | 0.097 | — |
| Kv (RPM/V) | 110 | 140 |
| Kt (N·m/A) | 0.104 | 0.078 |
| Ke (V/kRPM) | 7 | 7.5 |
| Phase Resistance (mΩ) | 792 | — |
| Phase Inductance (μH) | 560 | — |
| Pole Pairs | 14 | 14 |
| Number of Slots | 24 | — |
| Basic Dynamic Load Rating Cr (N) | 1100 | — |
| Basic Static Load Rating C0r (N) | 840 | — |
| Noise dB (65cm away the motor) | 65 | — |
| Operation Ambient Temperature | -20℃~50℃ | -20℃~50℃ |
| Insulation Level | F | — |
| Dielectric Strength | 500V | — |
| Insulation Resistance | 500V 10MΩ | — |
| Driving Way | FOC | FOC |
| Application | Exoskeleton, Robotic Arm | Legged Robot, Exoskeleton, AGV |
| Motor Constant Km (N·m/√W) | — | 0.17 |
| Back Drive (N·m) | — | 0.2 |
| Phase to Phase Resistance (mΩ) | — | 202 |
| Phase to Phase Inductance (μH) | — | 138 |
| Inertia (g·cm²) | — | 243.5 |
| Mechanical Time Constant (ms) | — | 0.81 |
| Electrical Time Constant (ms) | — | 0.68 |
| Winding Type | — | Delta Backlash (°) 0.55 |
| Number of Encoder | — | 1 |
| Inner Loop Encoder Type | — | Magnetic Encoder |
| Inner Ring Encoder Resolution | — | 14bit |
| 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.