CubeMars AK60-6 V1.1 Motor
CubeMars AK60-6 V1.1 Motor
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Product Description
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The CubeMars AK60-6 V1.1 (KV80/KV140) is an integrated robotic actuator series that combines a high-performance brushless DC motor, a 6:1 planetary gearbox, and a smart driver board into a single, compact, easy-to-install package. Delivering a powerful peak torque of 9 Nm while maintaining exceptional response speed, this highly integrated module supports multi-loop control (position, speed, torque, and MIT hybrid mode). Complete with plug-and-play connectivity, adaptive PID tuning, and multiple built-in hardware safety protections, the AK60-6 V1.1 is engineered for reliable, high-precision performance in demanding robotic applications.
Core Specifications
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Motor Dimensions: Φ79*39.5mm
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Motor Weight: 368g
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Gear Reduction Ratio: 6:1
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Peak Torque: 9 Nm
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No-load Speed: 320 rpm (KV80) | 560 rpm (KV140)
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Control Modes: Position, Speed, Torque, and MIT Hybrid Mode
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Communication Interface: CAN
Product Highlights
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High Integration: All-in-one design seamlessly combines motor, low-backlash planetary gearbox, and driver board, minimizing external wiring and simplifying system installation.
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Compact and Lightweight: Weighs approximately 368g with a slim profile of only 39.5mm, ideal for space- and weight-constrained robotic joints.
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Precision Gear Reduction: Equipped with a rugged 6:1 planetary gearbox featuring low backlash to ensure stable torque and smooth motion delivery.
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Flexible Control Architecture: Supports versatile control schemes, allowing users to toggle between standard servo loops and high-response MIT control modes.
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Built-in Safety Protections: Out-of-the-box protection circuits safeguard against overcurrent, overvoltage, undervoltage, and overtemperature for enhanced field reliability.
Packaging Contents
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AK60-6 V1.1 Actuator x1 (KV80 or KV140 option, comes standard with built-in driver board)
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Power Cable x1
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Serial CAN Cable x1
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Certificate of Conformance x1
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| PRODUCT PARAMETERS | |||
| Parameter | Value | Parameter | Value |
| Application | Legged Robot,Exeskeleton,AGV |
Peak torque (Nm) | 9 |
| Driving way | FOC | Peak current (ADC) | 22.7 |
| Operation ambient temperature | -20°C~50°C | 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 |
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| Number of encoder | 1 | ||