Electric servo-actuator AKH70-48 V1.0 KV41

rotaryplanetary gearwith brushless DC motor

Product overview
The AKH70-48 hollow-shaft planetary robotic actuator integrates a brushless motor, a three-stage 48:1 planetary gearbox, dual 21-bit magnetic encoders (motor-side and output-side) and an integrated drive board into a compact module. The 7 mm through-bore supports internal cable routing and serial connection of multiple modules via dual CAN interfaces. The module supports coordinated control of position, velocity and acceleration with adaptive PID to reduce commissioning time and improve closed-loop stability.

Core data

• Model: AKH70-48 V1.0
• Motor size: Φ90 × 81.5 mm
• Hollow bore diameter: 7 mm
• Weight: 1396 g
• Reduction ratio: 48:1
• Rated torque: 74 N·m
• Peak torque: 222 N·m
• No-load speed: 35 RPM
• Rated speed: 28 RPM
• KV: 41 RPM/V
• Rated voltage/current: 48 V / 6 A
• Peak current: 18 A

Product highlights

• High torque density: rated torque 74 N·m, peak torque up to 222 N·m in a compact form factor.
• High integration: brushless motor, planetary gearbox, dual encoders and drive electronics combined to reduce wiring and simplify integration.
• Multi-mode control: supports SERVO and motion-control modes with coordinated position, velocity and acceleration control; adaptive PID simplifies tuning.
• Dual 21-bit encoder feedback: independent motor-side and output-side magnetic encoders for robust closed-loop control and position retention after power loss.
• Comprehensive protections: overcurrent, overvoltage/undervoltage and overtemperature protections built in.
• Flexible interfaces: XT30PW (2+2) for power/CAN and UART (A1257WR-S-3P) for PC configuration.
• Customization support: configurable parameters, interfaces and functions to meet application requirements.

Packing list

• AKH70-48 KV41 hollow module (with standard drive board) ×1
• Power/CAN cable ×1
• Serial (UART) cable ×1
• Certificate of conformity ×1

Related accessories

• R-LINK V3.0
• Wiring package V3.0

Technical specifications

• Application: legged robots, exoskeletons, AGV
• Peak torque: 222 N·m
• Rated torque: 74 N·m
• No-load speed: 35 RPM
• Rated speed: 28 RPM
• KV: 41 RPM/V
• Rated voltage: 48 V
• Rated current: 6 A
• Peak current: 18 A
• Reduction ratio: 48:1 (three-stage planetary)
• Winding type: Delta
• Torque constant KT: 0.23 N·m/A
• Back EMF KE: 2.4 V/krpm
• Phase-to-phase resistance: 0.56 Ω
• Phase-to-phase inductance: 0.6 mH
• Slots: 36
• Pole pairs: 21
• Rotor inertia: 1170 g·cm²
• Motor constant: 0.31 N·m/√W
• Back drive torque: 2.22 N·m
• Mechanical time constant: 2.28 ms
• Backlash: 12 arcmin
• Maximum torque density: 159 N·m/kg
• Temperature sensor: NTCMF51B103F3950
• Inner/outer encoder: magnetic, 21-bit
• Basic dynamic/static load ratings: Cr 5680 N, C0 8680 N
• Noise (65 cm): 65 dB
• Insulation level: F
• CAN/Power connector: XT30PW (2+2)-M
• UART connector: A1257WR-S-3P