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Description
- 1x CubeMars AK10-9 V2.0 KV60 AK Series Robotic Actuator
- Diameter: 98 mm
- Height: 61.7 mm
- Highly integrated design
- MIT power and servo control modes
- Input and output dual encoders
- Rated torque: 18 Nm
- Peak torque: 48 Nm
- Maximum speed: 26 rad/s
- Operating voltage: 48 V
- Rated speed: 220 rpm
- Driving method: FOC
- Peak current: 29.8 ADC
- Operating ambient temperature: -20°C to 50°C
- Kv (rpm/V): 60
- Winding type: Star
- Kt (Nm/A): 0.198
- Insulation class: C
- Ke (V/krpm): 17.2
- Insulation high-voltage: 1000 V 5 mA/2 s
- Phase-to-phase resistance: 195 mΩ
- Insulation resistance: 1000 V 10 MΩ
- Phase-to-phase inductance: 181 μH
- Number of phases: 3
- Inertia: 1002 gcm²
- Pole pairs: 21
- Km (Nm/√W): 0.45
- Reduction ratio: 9:1
- Mechanical time constant: 0.5 ms
- Back drive: 0.8 Nm
- Electrical time constant: 0.93 ms
- Backlash: 0.33°
- Temperature sensor: NTC MF51B 103F3950
- Maximum torque-to-weight ratio: 50 Nm/kg
- Noise level at 65 cm: 65 dB
- CAN connector: A1257WR-S-4P
- Basic dynamic load ratings: 2000 N
- UART connector: A1257WR-S-3P
- Basic static load ratings: 2520 N
- Power connector: XT30PW-M
- Rated voltage: 24/48 V
- Inner loop encoder type: Magnetic encoder
- Rated current: 10.6 ADC
- Inner ring encoder resolution: 14-bit
- Outer ring encoder type: Magnetic encoder
- Outer ring encoder resolution: 15-bit
- Number of encoders: 2