# AK10 9 *** ## CubeMars AK10-9 V2.0 100kv Brushless Motor + Encoder + Treiber 9:1 24V-48V 820g **Artikelnr.:** PM-6146 | **HAN:** AK10-9-V2.0-100kv [Zum Premium-Modellbau Shop](https://www.premium-modellbau.de/search?sSearch=PM-6146) ![CubeMars AK10-9 V2.0 100kv Brushless Motor + Encoder + Treiber 9:1 24V-48V 820g](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-8.jpg) Sehr hochwertiger Brushless Aktuator von T-Motor aus der CubeMars Serie. ## **Features des Cube Mars AK10-9 V2.0 100kv:** * Highly Integrated & High Torque Module * Reducer and Controller in One * Large Torque * Applied to Exoskeleton, Quadruped Robotic Dog * Easy Configuration with RUBIK Link * 12Bit Encoder & UART/CAN Interface ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-8.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-2.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-1.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-3.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-33.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-4.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-9.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-10.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-11.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-1.1-12.jpg) *** ## CubeMars AK10-9 V2.0 60kv Brushless Motor + Encoder + Treiber 9:1 24V-48V 960g **Artikelnr.:** PM-6147 | **HAN:** AK10-9-V2.0-60kv [Zum Premium-Modellbau Shop](https://www.premium-modellbau.de/search?sSearch=PM-6147) ![CubeMars AK10-9 V2.0 60kv Brushless Motor + Encoder + Treiber 9:1 24V-48V 960g](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-6.jpg) Sehr hochwertiger Brushless Aktuator von T-Motor aus der CubeMars Serie. ## **Features des Cube Mars AK10-9 V2.0 60kv:** * Highly Integrated * MIT power and servo control modes * Input & output dual encoders * Input & output dual encoders * Peak torque 48Nm * Max speed 26rad/s ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-6.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-5.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-8.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-7.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-10.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-9.jpg) ![](https://bilder.premium-modellbau.de/bilder/produkte/wasserzeichen/AK10-9-V2-11.jpg) *** ## CubeMars AK10-9 V3.0 60kv Brushless Motor + Encoder + Treiber 48V 940g **Artikelnr.:** PM-7062 | **HAN:** AK10-9 V3.0-60kv [Zum Premium-Modellbau Shop](https://www.premium-modellbau.de/search?sSearch=PM-7062) ![CubeMars AK10-9 V3.0 60kv Brushless Motor + Encoder + Treiber 48V 940g](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_1180_en_02.jpg) • Highly integrated • MIT power and servo control modes • Input & output dual encoders • Rated torque 18Nm • Peak torque 53Nm The AK10-9 V3.0 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 AK10-9 V3.0 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. ![cubemars AK10-9 motor detail1](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_1180_en_02.jpg) AK V3.0 ROBOTIC ACTUATION MODULE Efficient and Easy ![cubemars AK10-9 motor detail2](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_1180_en_02.jpg) EM INNOVATION EFFICIENCY BOOST Advanced electromagnetic design boosts efficiency by 5% and significantly enhances thermal stability. ![cubemars AK10-9 motor detail3](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_1180_en_03.jpg) DRIVER UPGRADE OPERATION EASY One-click parameter recognition and easy setup for servo mode and MIT mode A user-friendly interface provides clearer and simpler status monitoring. One-click parameter recognition and easy setup for servo mode and MIT mode; A user-friendly interface provides clearer and simpler status monitoring. ![cubemars AK10-9 motor detail4](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_full_04.jpg) DUAL ENCODERS ACCURATE MEMORY Maintains precise position information during power outages, ensuring reliable operation and accurate positioning ![cubemars AK10-9 motor detail5](https://img.cubemars.com/products/AK10-9_AK60-6/images/AK10-9_full_05.jpg) COMPACT INTEGRATION LIGHTWEIGHT DESIGN Integrates high-performance brushless DC motor, planetary gearbox, and driver board into one, delivering exceptional performance and precision. ![AK10-9](https://img.tmotor.com/products/AK10-9_AK60-6/images/section6_1180.jpg) Black & White Dual Interface Free for debugging The black is the XT30 2+2 interface, combined the power cable and CAN signal cable into one, making the signal transmission safer and more reliable;The white is a CJT-3pin interface. Convenient for connecting to the upper computer to communicate and adjust parameters XT30 2+2 Black Interface CJT-3pin White Interface Technical Drawing ![](https://store.tmotor.com/images/202410/221729589100713991.jpg) Specification | | | | | | ----------------------------- | ------------------------------------ | ----------------------------- | ---- | | Application | Foot Robots, Exoskeleton Robots, AGV | Rated Voltage (v) | 48 | | Control Method | FOC | No-load speed (rpm) | 320 | | Temperature Range | -20\~50? | Rated Torque (Nm) | 18 | | Winding Type | star | Rated Speed (rpm) | 235 | | Insulation Level | C | Rated Current (ADC) | 10.7 | | Insulation Voltage Withstand | 1000V 5mA/2s | Peak Torque (Nm) | 53 | | Insulation Resistance | 1000V 10MO | Peak Current (ADC) | 31.9 | | Pole Pairs | 21 | KV (rpm/V) | 60 | | Reduction Ratio | 9:1 | KT (Nm/A) | 0.16 | | Number of Slots | 36 | KE V/krpm | 16.7 | | Temperature Sensor | NTC MF51B 103F3950 | Phase to phase resistance mO | 248 | | Maximum Torque Density(Nm/kg) | 86 | Phase to phase Inductance µH | 213 | | Inner Ring Encoder Type | Magnetic | Rotor Inertia (gcm²) | 1002 | | Inner Ring Encoder Resolution | 21bit | Motor constant(Nm/vW) | 0.32 | | Outer Ring Encoder Type | Magnetic | Mechanical Time Constant (ms) | 0.5 | | Outer Ring Encoder Resolution | 15bit | Electrical Time Constant (ms) | 0.93 | | Number of Encoder | 2 | Motor Weight (g) | 940 | Analysis Chart ![](https://store.tmotor.com/images/202410/221729589164365092.jpg) ## Downloads: ![](https://www.cubemars.com/includes/ueditor/dialogs/attachment/fileTypeImages/icon_pdf.gif)[AK10-9 KV60 V3.0.pdf](https://www.cubemars.com/images/file/20241126/1732601780310205.pdf) [![](https://www.cubemars.com/includes/ueditor/dialogs/attachment/fileTypeImages/icon_pdf.gif)AK Series Module Product Manual v3.0.0 Download](https://www.cubemars.com/images/file/20241217/1734428582786471.pdf) ![](https://www.cubemars.com/includes/ueditor/dialogs/attachment/fileTypeImages/icon_rar.gif)[**AK10-9 KV60 V3.0-3D.zip**](https://www.cubemars.com/images/file/20250114/1736835456393125.zip) ## Vergleich aller Cube Mars Motoren: | 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 | AK60-6 V3.0 | 24/48 | 74 | 3 | 3.8 | 233/490 | 9 | 10.3/11.2 | 320/640 | 6:1 | 380 | ?79\*43 | Yes | Single | | AK Series | AK10-9 V3.0 | 48 | 442 | 18 | 10.7 | 235 | 53 | 31.9 | 320 | 9:1 | 940 | ?98\*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 | ?98\*61.7 | Yes | Dual | | AK Series | AK60-6 V1.1 KV80 | 24 | 74 | 3 | 3.8 | 233 | 9 | 13.1 | 320 | 6:1 | 368 | ?79\*39.5 | Yes | Single | | AK Series | AK10-9 V2.0 KV100 | 24/48 | 720 | 15 | 16.2 | 205/421 | 38 | 41.2 | 266/533 | 9:1 | 960 | ?98\*61.7 | Yes | Dual | | AK Series | AK60-6 V1.1 KV140 | 24 | 130 | 3 | 6.5 | 420 | 9 | 22.7 | 560 | 6:1 | 368 | ?79\*39.5 | Yes | Single | | AK Series | AK70-10 | 24/48 | 230 | 8.3 | 7.2 | 148/310 | 24.8 | 23.2 | 240/480 | 10:1 | 521 | ?89\*50.25 | Yes | Single | | AK Series | AK80-6 | 48 | 340 | 6 | 9.7 | 603 | 12 | 20 | 800 | 6:1 | 485 | ?98\*38.5 | Yes | Single | | AK Series | AK80-64 | 24/48 | 220 | 48 | 7 | 23/48 | 120 | 19 | 37/75 | 64:1 | 850 | ?98\*61.9 | Yes | Single | | AK Series | AK80-8 | 48 | 230 | 10 | 6.9 | 243 | 25 | 21 | 360 | 8:1 | 570 | ?98\*43.9 | Yes | Dual | | AKE Series | AKE90-8 | 48 | 700 | 55 | 21 | 120 | 170 | 72 | 210 | 8:1 | 1400 | ?107.5\*43.5 | No | | | AKA Series | AKA10-9 | 48 | 205 | 18 | 10.6 | 109 | 53 | 32 | 320 | 9:1 | 1060 | Ø100\*70 | Yes | Single | | AK Series | AK80-9 | 48 | 330 | 9 | 10.3 | 390 | 18 | 22.3 | 533 | 9:1 | 485 | ?98\*38.5 | Yes | Single | | AKA Series | AKA60-6 | 24/48 | 62 | 3 | 4 | 200/400 | 9 | 11.2 | 320/640 | 6:1 | 460 | ?80\*51.2 | Yes | Single | | AKE Series | AKE60-8 | 24 | 95 | 5 | 4.8 | 180 | 12.5 | 12 | 240 | 8:1 | 260 | ?69\*25 | No | | | AKE Series | AKE80-8 | 48 | 188 | 12 | 4.8 | 150 | 30 | 12 | 180 | 8:1 | 570 | ?87\*32 | No | |