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Technical Drawing
The AK60-6 actuator integrates a high-performance brushless DC motor, a self-developed planetary reducer, an encoder, and an integrated drive, enabling smooth operation with high torque.Utilizing a portable drive solution, the AK60-6 Power Module supports both servo and MIT modes. It breaks away from conventions by achieving synchronized control of position, velocity, and acceleration, adapting to PID settings automatically and eliminating complexity to reach the target efficiently.CubeMars offers highly customizable motor modules.
AK60-6 Actuator Specifications:
- Operating Voltage: 24V
- Rated Torque: 3Nm
- Rated Speed: 233/420rpm
For more detailed information, please contact our online advisors.
| Application | Legged Robot,Exoskeleton,AGV | Peak torque (Nm) | 9 |
| Driving way | FOC | Peak current (ADC) | 22.7 |
| Operation ambient temperature | -20℃~50℃ | Kv (rpm/V) | 140 |
| Winding type | delta | Kt (Nm/A) | 0.078 |
| Insulation class | C | Ke (V/krpm) | 7.5 |
| Insulation High-voltage | 500V 5mA/2s | Phase to Phase resistance (mΩ) | 202 |
| Insulation resistance | 500V10MΩ | Phase to Phase inductance (μH) | 138 |
| Phase | 3 | Inertia (gcm²) | 243.5 |
| Pole pairs | 14 | Km (Nm/√W) | 0.17 |
| Reduction ratio | 6:01 | Mechanical time constant (ms) | 0.81 |
| Back drive(Nm) | 0.2 | Electrical time constant (ms) | 0.68 |
| Backlash (°) | 0.55 | Weight (g) | 368 |
| Temperature sensor | NTC MF51B 103F3950 | Maximum torque weight ratio (Nm/kg) | 24.46 |
| Noise dB 65CM away the motor | 60 | CAN connector | A1257WR-S-4P |
| Basic load ratings (dyn. C ) N | 3150 | UART connector | A1257WR-S-3P |
| Basic load ratings (stat.C0) N | 4500 | Power connector | XT30PW-M |
| Rated voltage (V) | 24 | Inner loop encoder type | Magnetic encoder |
| Rated torque (Nm) | 3 | Inner ring encoder resolution | 14bit |
| Rated speed (rpm) | 420 | Outer ring encoder type | - |
| Rated current (ADC) | 6.5 | Outer ring encoder resolution | - |
| Number of encoder | 1 |
| category | Model | Rated Voltage (V) | Rated Power (W) | Rated Torque (Nm) | Rated Current (A) | Rated Speed (RPM) | Peak Torque (Nm) | Peak Current (A) | No-load Speed (RPM) | Reduction Ratio | Weight (G) | Size (diameter *length) MM | Driver Board | Encoder |
| AK Series | AK10-9 V3.0 | 48 | 442 | 18 | 10.7 | 235 | 53 | 31.9 | 320 | 9:1 | 940 | Ф98*61.7 | Yes | Dual |
| AK Series | AK10-9 V2.0 KV60 | 24/48 | 430 | 18 | 10.6 | 109/228 | 48 | 29.8 | 160/320 | 9:1 | 960 | Ф98*61.7 | Yes | Dual |
| AK Series | AK10-9 V2.0 KV100 | 24/48 | 720 | 15 | 16.2 | 205/421 | 38 | 41.2 | 266/533 | 9:1 | 960 | Ф98*61.7 | Yes | Dual |
| AK Series | AK80-9 V3.0 | 48 | 367.5 | 9 | 12 | 390 | 22 | 28 | 570 | 9:1 | 490 | Ф98*38.5 | Yes | Single |
| AK Series | AK80-9 | 48 | 330 | 9 | 10.3 | 390 | 18 | 22.3 | 533 | 9:1 | 485 | Ф98*38.5 | Yes | Single |
| AK Series | AK80-8 | 48 | 230 | 10 | 6.9 | 243 | 25 | 21 | 360 | 8:1 | 570 | Ф98*43.9 | Yes | Dual |
| AK Series | AK80-6 | 48 | 340 | 6 | 9.7 | 603 | 12 | 20 | 800 | 6:1 | 485 | Ф98*38.5 | Yes | Single |
| AK Series | AK80-64 | 24/48 | 220 | 48 | 7 | 23/48 | 120 | 19 | 37/75 | 64:1 | 850 | Ф98*61.9 | Yes | Single |
| AK Series | AK70-10 | 24/48 | 230 | 8.3 | 7.2 | 148/310 | 24.8 | 23.2 | 240/480 | 10:1 | 521 | Ф89*50.25 | Yes | Single |
| AK Series | AK70-9 | 48 | 230 | 8.5 | 6.25 | 260 | 29.2 | 23.8 | 320 | 9:1 | 540 | Ф89*46 | Yes | Dual |
| AK Series | AK60-6 V3.0 | 24/48 | 74 | 3 | 3.8 | 233/490 | 9 | 10.3/11.2 | 320/640 | 6:1 | 380 | Ф79*43 | Yes | Single |
| AK Series | AK60-6 V1.1 KV80 | 24 | 74 | 3 | 3.8 | 233 | 9 | 13.1 | 320 | 6:1 | 368 | Ф79*39.5 | Yes | Single |
| AK Series | AK60-6 V1.1 KV140 | 24 | 130 | 3 | 6.5 | 420 | 9 | 22.7 | 560 | 6:1 | 368 | Ф79*39.5 | Yes | Single |
| AK Series | AK45-36 | 24 | 33 | 8 | 2 | 40 | 24 | 6.5 | 52 | 36:1 | 340 | φ55*54 | Yes | Single |
| AK Series | AK45-10 | 24 | 39 | 2.5 | 2.1 | 150 | 7 | 5 | 180 | 10:1 | 260 | 53*43 | Yes | Single |
| AK Series | AK40-10 | 24 | 59 | 1.3 | 2.7 | 370 | 4.1 | 7.3 | 435 | 10:1 | 200 | φ53*37 | Yes | Single |
| AKE Series | AKE90-8 | 48 | 700 | 55 | 21 | 120 | 170 | 72 | 210 | 8:1 | 1400 | Ф107.5*43.5 | No | |
| AKE Series | AKE80-8 | 48 | 188 | 12 | 4.8 | 150 | 30 | 12 | 195 | 8:1 | 570 | Ф87*32 | No | |
| AKE Series | AKE60-8 | 24 | 95 | 5 | 4.8 | 180 | 12.5 | 12 | 240 | 8:1 | 260 | Ф69*25 | No | |
| AKA Series | AKA10-9 | 48 | 205 | 18 | 10.6 | 109 | 53 | 32 | 320 | 9:1 | 1060 | ∅100*70 | Yes | Single |
| AKA Series | AKA60-6 | 24/48 | 62 | 3 | 4 | 200/400 | 9 | 11.2 | 320/640 | 6∶1 | 460 | Ф80*51.2 | Yes | Single |
AK Series Driver and Control Manual v1.0.15.X.pdf
For the latest default parameters and firmware downloads for the AK series,
please refer to: https://www.cubemars.com/article.php?id=261
