Electric servo-actuator AKH70-16 V1.0 KV41

rotaryplanetary gearwith brushless DC motor

Product overview
The AKH70-16 V1.0 KV41 is a hollow planetary actuator module integrating a brushless motor, two-stage 16:1 planetary gearbox, dual 21-bit magnetic encoders (motor-side and output-side) and an onboard FOC-capable driver. The 7 mm hollow bore supports internal cable routing and multi-module CAN daisy-chaining to simplify system wiring for articulated robots and automated equipment.

Key features

• Highly integrated hollow-shaft planetary actuator (motor + gearbox + encoders + driver)
• 7 mm through hollow bore for internal cable routing
• Rated torque: 26 N·m; peak torque: 85 N·m (product brief) / 78 N·m (spec table)
• Maximum torque density: 88.74 N·m/kg
• Dual 21-bit magnetic encoders for inner-loop and outer-loop feedback and position retention after power loss
• Onboard driver supporting FOC; supports coordinated position, velocity and acceleration control with adaptive PID
• Protection functions: overcurrent, overvoltage/undervoltage, overtemperature
• Interfaces: XT30PW (2+2) power + CAN; UART (A1257WR-S-3P) for PC configuration
• Supports SERVO and MOTION control modes and multi-parameter coordinated control
• Customization services for parameters, interfaces and functional options

Applications

• Legged robots, exoskeletons, humanoid joints
• Autonomous guided vehicles (AGV) and mobile robots
• Multi-joint robotic arms and automated equipment requiring high torque density

Package contents

• AKH70-16 actuator (with driver board) ×1
• Power + CAN cable ×1
• Serial cable ×1
• Certificate ×1

Related accessories

• R-LINK V3.0
• Wiring package V3.0

Technical specifications

• Model: AKH70-16 V1.0 KV41
• Applications: Legged robot, Exoskeleton, AGV
• Actuator size: Φ90 × 60.5 mm
• Hollow bore diameter: 7 mm
• Weight: 879 g
• Rated voltage: 48 V
• Rated power: 245 W
• Rated torque: 26 N·m
• Peak torque: 85 N·m (product brief) / 78 N·m (spec table)
• No-load speed: 105 RPM
• Rated speed: 90 RPM
• Rated current: 6.5 A
• Peak current: 19.5 A
• KV (RPM/V): 41
• Winding type: Delta
• KT (N·m/A): 0.23
• KE (V/KRPM): 2.4
• Phase-to-phase resistance: 0.56 Ω
• Phase-to-phase inductance: 0.6 mH
• Number of slots: 36
• Pole pairs: 21
• Rotor inertia: 1170 g·cm²
• Reduction ratio: 16:1 (two-stage planetary)
• Motor constant: 0.31 N·m/√W
• Back drive torque: 0.78 N·m
• Mechanical time constant: 2.28 ms
• Backlash: 12 arcmin
• Maximum torque density: 88.74 N·m/kg
• Temperature sensor: NTC MF51B 103F3950
• Noise: 65 dB (measured at 65 cm)
• Basic dynamic load rating (C): 6350 N
• Basic static load rating (C0): 5550 N
• Inner-loop encoder: Magnetic, resolution 21 bit
• Outer-loop encoder: Magnetic, resolution 21 bit
• Number of encoders: 2 (motor-side and output-side)
• CAN connector: XT30PW (2+2)-M
• UART connector: A1257WR-S-3P