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AKM Performance

This page contains motor performance data for AKMx servo motors. 

AKM1x

Parameters Tol Symbol Units AKM11 AKM12 AKM13
B C E C E C D
Max Rated DC Bus Voltage Max Vbus Vdc 320 160 75 320 160 320 160
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 0.183 0.185 .0185 0.310 0.310 0.409 0.401
lb-in 1.62 1.64 1.64 2.74 2.74 3.62 3.55
Continuous Current (Stall) Nom Ics Arms 1.16 1.45 2.91 1.51 2.72 1.48 2.40
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 0.146 0.148 0.148 0.248 0.248 0.327 0.320
lb-in 1.29 1.31 1.31 2.19 2.19 2.89 2.83
Max Mechanical Speed Nom Nmax rpm 8000 8000 8000 8000 8000 8000 8000
Peak Torque Nom Tp Nm 0.609 0.614 0.611 1.08 1.08 1.46 1.44
lb-in 5.39 5.46 5.41 9.6 9.6 12.9 12.7
Peak Current Nom Ip Arms 4.65 5.79 11.6 6.06 10.9 5.93 9.6
Torque Constant ±10% Kt Nm/Arms 0.158 0.129 0.064 0.207 0.112 0.278 0.169
lb-in/Arms 1.40 1.14 0.57 1.83 0.99 2.46 1.50
Back EMF Constant ±10% Ke V/krpm 10.2 8.3 4.1 13.3 7.2 17.9 10.9
Motor Constant Nom Km N-m/√W 0.0302 0.303 0.0296 0.0480 0.0463 0.0618 0.0593
lb-in/√W 0.267 0.268 0.262 0.425 0.410 0.547 0.525
Resistance (line-line) ±10% Rm ohm 18.23 12.11 3.11 12.4 3.9 13.5 5.41
Inductance (line-line)   L mH 12.5 8.3 2.04 9.1 2.7 10.3 3.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.017 0.031 0.045
lb-in-s2 1.5E-05 2.7E-05 4.0E-05

AKM2x

Parameters Tol Symbol Units AKM21 AKM22 AKM23 AKM24
C E G C E G D E F D E F
Max Rated DC Bus Voltage Max Vbus Vdc 320 160 75 640 320 160 640 320 320 640 320 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 0.48 0.50 0.50 0.84 0.87 0.88 1.16 1.16 1.18 1.41 1.40 1.42
lb-in 4.2 4.4 4.4 7.4 7.7 7.8 10.3 10.3 10.4 12.5 12.4 12.6
Continuous Current (Stall) Nom Ics Arms 1.58 3.11 4.87 1.39 2.73 4.82 2.19 2.78 4.31 2.21 2.79 3.89
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 0.38 0.40 0.40 0.67 0.70 0.70 0.92 0.93 0.94 1.13 1.12 1.14
lb-in 3.4 3.5 3.5 5.9 6.2 6.2 8.2 8.23 8.4 10.0 9.91 10.1
Max Mechanical Speed Nom Nmax rpm 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000 8000
Peak Torque Nom Tp Nm 1.47 1.49 1.51 2.73 2.76 2.79 3.84 3.86 3.88 4.76 4.79 4.82
lb-in 13.0 13.2 13.4 24.2 24.4 24.7 34.0 34.2 34.3 42.1 42.4 42.7
Peak Current Nom Ip Arms 6.3 12.4 19.5 5.6 10.9 19.3 8.8 11.1 17.2 8.8 11.2 15.6
Torque Constant ±10% Kt Nm/Arms 0.30 0.16 0.10 0.61 0.32 0.18 0.52 0.42 0.27 0.63 0.50 0.36
lb-in/Arms 2.7 1.4 0.9 5.4 2.8 1.6 4.6 3.7 2.4 5.6 4.4 3.2
Back EMF Constant ±10% Ke V/krpm 19.5 10.2 6.6 39 20.4 11.7 33.8 27.0 17.6 40.8 32.5 23.4
Motor Constant Nom Km N-m/√W 0.0679 0.0706 0.0680 0.111 0.114 0.110 0.143 0.147 0.144 0.171 0.175 0.171
lb-in/√W 0.601 0.625 0.602 0.986 1.01 0.98 1.27 1.30 1.28 1.52 1.55 1.52
Resistance (line-line) ±10% Rm ohm 13 3.42 1.44 19.98 5.22 1.77 8.7 5.44 2.34 9.02 5.44 2.94
Inductance (line-line)   L mH 19 5.2 2.18 35.5 9.7 3.19 17.3 11.1 4.68 18.7 11.8 6.16
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.11 0.16 0.22 0.27
lb-in-s2 9.5E-05 1.4E-04 1.9E-04 2.4E-04

AKM3x

Parameters Tol Symbol Units AKM31 AKM32 AKM33
C E H C E H C E H
Max Rated DC Bus Voltage Max Vbus Vdc 640 320 160 640 640 320 640 640 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 1.15 1.20 1.23 2.00 2.04 2.10 2.71 2.79 2.88
lb-in 10.2 10.6 10.8 17.7 18.1 18.6 24.0 24.7 25.5
Continuous Current (Stall) Nom Ics Arms 1.37 2.99 5.85 1.44 2.82 5.50 1.47 2.58 5.62
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 0.92 0.96 0.98 1.60 1.63 1.68 2.17 2.23 2.30
lb-in 8.1 8.5 8.7 14.2 14.4 14.9 19.2 19.7 20.4
Max Mechanical Speed Nom Nmax rpm 8000 8000 8000 8000 8000 8000 8000 8000 8000
Peak Torque Nom Tp Nm 3.88 4.00 4.06 6.92 7.11 7.26 9.75 9.96 10.22
lb-in 34.3 35.4 35.9 61.2 62.9 64.3 86.4 88.1 90.5
Peak Current Nom Ip Arms 5.5 12.0 23.4 5.7 11.3 22.0 5.9 10.3 22.5
Torque Constant ±10% Kt Nm/Arms 0.85 0.41 0.21 1.40 0.73 0.39 1.86 1.10 0.52
lb-in/Arms 7.5 3.6 1.9 12.4 6.5 3.5 16.5 9.7 4.6
Back EMF Constant ±10% Ke V/krpm 54.5 26.1 13.7 89.8 47.1 24.8 120 70.6 33.4
Motor Constant Nom Km N-m/√W 0.150 0.154 0.151 0.235 0.237 0.245 0.295 0.299 0.303
lb-in/√W 1.33 1.36 1.34 2.08 2.10 2.17 1.61 2.65 2.68
Resistance (line-line) ±10% Rm ohm 21.4 4.74 1.29 23.76 6.32 1.69 26.59 9.01 1.96
Inductance (line-line)   L mH 37.5 8.6 2.4 46.5 12.8 3.55 53.6 18.5 4.1
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.33 0.59 0.85
lb-in-s2 2.9E-04 5.2E-04 7.5E-04

AKM4x

Parameters Tol Symbol Units AKM41 AKM42 AKM43 AKM44
C E H C E G J E H L E H J
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 320 640 640 640 320 640 640 320 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 1.95 2.02 2.06 3.35 3.42 3.53 3.56 4.70 4.82 4.73 5.76 5.89 6.00
lb-in 17.3 17.9 18.2 29.6 30.3 31.2 31.5 41.6 42.7 41.9 51.0 52.1 53.1
Continuous Current (Stall) Nom Ics Arms 1.46 2.85 5.60 1.40 2.74 4.80 8.40 2.76 5.4 11.2 2.9 5.6 8.8
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 1.56 1.62 1.65 2.68 2.74 2.82 2.85 3.76 3.86 3.78 4.61 4.71 4.80
lb-in 13.8 14.3 14.6 23.7 24.2 25.0 25.2 33.3 34.2 33.5 40.8 41.7 42.5
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 6.12 6.28 6.36 11.1 11.3 11.5 11.6 15.9 16.1 16.0 19.9 20.2 20.4
lb-in 542 55.6 56.3 98.2 99.7 102 103 141 142 142 176 179 181
Peak Current Nom Ip Arms 5.8 11.4 22.4 5.60 11.0 19.2 33.7 11.0 21.6 44.6 11.4 22.4 35.2
Torque Constant ±10% Kt Nm/Arms 1.34 0.71 0.37 2.40 1.26 0.74 0.43 1.72 0.89 0.43 2.04 1.06 0.69
lb-in/Arms 11.9 .3 3.3 21. 11.2 6.5 3.8 15.2 7.9 3.8 18.1 9.4 6.1
Back EMF Constant ±10% Ke V/krpm 86.3 45.6 23.7 154 80.9 47.5 27.5 111 57.4 27.5 132 68.0 44.2
Motor Constant Nom Km N-m/√W 0.237 0.236 0.242 0.374 0.369 0.381 0.393 0.479 0.501 0.465 0.567 0.580 0.581
lb-in/√W 2.10 2.09 2.14 3.31 3.26 3.37 3.47 4.24 4.44 4.12 5.01 5.13 5.14
Resistance (line-line) ±10% Rm ohm 21.3 6.02 1.56 27.5 7.78 2.51 0.8 8.61 2.1 0.57 8.64 2.23 0.94
Inductance (line-line)   L mH 66.1 18.4 5.0 97.4 26.8 9.2 3.1 32.6 8.8 2.0 33.9 9.1 3.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 0.81 1.5 2.1 2.7
lb-in-s2 7.2E-04 1.3E03 1.8E03 2.4E-03

AKM5x

Parameters Tol Symbol Units AKM51 AKM52 AKM53 AKM54
E H L E H L M G H L P H K L N
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 320 640 640 640 320 640 640 640 320 640 640 560 320
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 4.70 4.79 4.89 8.34 8.48 8.67 8.60 11.4 11.5 11.6 11.4 14.2 14.2 14.1 14.1
lb-in 41.6 42.4 43.3 73.8 75.1 76.7 76.1 101 102 103 101 126 127 125 125
Continuous Current (Stall) Nom Ics Arms 2.75 6.0 11.9 2.99 5.9 11.6 13.1 4.77 6.6 11.8 19.1 5.5 9.7 12.5 17.8
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 3.76 3.83 3.91 6.67 6.78 6.94 6.88 9.10 9.21 9.28 9.10 11.5 11.5 11.3 11.3
lb-in 33.3 33.9 34.6 59.0 60.0 61.4 61.0 80.5 81.5 82.1 80.5 102 102 100 100
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 11.6 11.7 12.0 21.3 21.6 22.0 21.9 29.7 30.0 30.3 29.8 37.5 38.4 37.5 37.6
lb-in 103 104 106 189 191 195 194 263 266 268 264 332 340 332 333
Peak Current Nom Ip Arms 8.24 18.0 35.7 9.00 17.7 34.8 39.4 14.3 19.8 35.4 57.4 16.5 29.2 37.5 53.4
Torque Constant ±10% Kt Nm/Arms 1.72 0.80 0.41 2.79 1.44 0.75 0.66 2.39 1.75 0.99 0.60 2.6 1.50 1.13 0.80
lb-in/Arms 15.2 7.1 3.6 24.7 12.7 6.6 5.8 21.2 15.5 8.8 5.3 22.7 13.3 10.0 7.1
Back EMF Constant ±10% Ke V/krpm 110 51.3 26.6 179 92.7 48.3 42.4 154 112 63.6 38.4 166 96.6 72.9 51.3
Motor Constant Nom Km N-m/√W 0.469 0.465 0.447 0.761 0.767 0.784 0.770 0.979 0.986 0.973 0.926 1.19 1.18 1.14 1.14
lb-in/√W 4.15 4.12 3.96 6.73 6.79 6.94 6.81 8.67 8.73 8.61 8.19 10.5 10.4 10.1 10.1
Resistance (line-line) ±10% Rm ohm 8.89 1.97 0.56 8.96 2.35 0.61 0.49 3.97 2.1 0.69 0.28 3.2 1.08 0.65 0.33
Inductance (line-line)   L mH 36.6 7.9 2.1 44.7 11.9 3.24 2.5 21.3 11.4 3.64 1.3 18.3 6.2 3.5 1.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 3.4 6.2 9.1 12
lb-in-s2 3.0E-03 5.5E-03 8.1E-03 0.011

AKM6x

Parameters Tol Symbol Units AKM62 AKM63 AKM64 AKM65
H L M Q H L M Q K L Q L M P
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 640 320 640 640 640 320 640 640 640 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 11.9 12.2 12.2 12.0 16.6 16.8 17.0 16.7 20.8 21.0 20.6 25 25.0 24.5
lb-in 105 108 108 106 147 149 150 148 184 186 182 221 221 217
Continuous Current (Stall) Nom Ics Arms 5.4 12.0 13.4 21.8 5.6 11.1 13.8 22.4 9.2 12.8 20.7 12.2 13.6 19.8
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 9.5 9.8 9.72 9.6 13.3 13.4 13.6 13.4 16.6 16.8 16 20 20.0 19.6
lb-in 84 87 86.0 85 118 119 120 119 147 149 142 177 177 173
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 29.6 30.1 30.2 29.8 42.1 42.6 43.0 42.4 53.5 54.1 53.2 65.2 65.2 65.2
lb-in 262 266 267 264 373 377 381 374 473 479 471 577 577 577
Peak Current Nom Ip Arms 16.2 36.0 40.3 65.4 16.8 33.3 41.4 67.2 27.5 38.4 62.1 36.6 40.9 59.4
Torque Constant ±10% Kt Nm/Arms 2.2 1.0 0.91 0.60 3.00 1.5 1.24 0.75 2.28 1.66 1.0 2.1 1.85 1.3
lb-in/Arms 19.5 8.85 8.1 5.3 26.6 13.3 11.0 7.1 20.2 14.7 8.85 18.6 16.4 11.5
Back EMF Constant ±10% Ke V/krpm 142 65.5 58.8 35.5 191.5 98.2 79.9 48.3 147 107 64.4 133 119 80.5
Motor Constant Nom Km N-m/√W 0.989 0.949 0.984 1.00 1.32 1.26 1.30 1.28 1.57 1.57 1.44 1.81 1.77 1.75
lb-in/√W 8.75 8.40 8.71 8.85 11.7 11.2 11.5 11.3 13.9 13.9 12.8 16.0 15.6 15.4
Resistance (line-line) ±10% Rm ohm 3.3 0.74 0.57 0.24 3.43 0.94 0.61 0.23 1.41 0.75 0.32 0.90 0.73 0.37
Inductance (line-line)   L mH 25.4 5.4 4.4 1.6 28.1 7.4 4.9 1.8 11.8 6.2 2.3 7.6 6.1 2.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 17 24 32 40
lb-in-s2 0.015 0.021 0.028 0.035

AKM7x

Parameters Tol Symbol Units AKM72 AKM73 AKM74
L P Q L P Q L P Q
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 640 640 640 640 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 30 29.4 29.5 42 41.6 41.5 53.0 52.5 52.2
lb-in 266 260 261 372 368 367 469 465 426
Continuous Current (Stall) Nom Ics Arms 11.5 18.7 23.5 12.1 19.5 24.5 12.9 18.5 26.1
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 24 23.5 23.6 33.6 33.3 33.2 42.4 42.0 41.8
lb-in 212 208 209 297 295 294 375 372 370
Max Mechanical Speed Nom Nmax rpm 6000 6000 6000 6000 6000 6000 6000 6000 6000
Peak Torque Nom Tp Nm 79.5 78.5 78.4 113 111 111 143 142 141
lb-in 704 695 694 1000 985 982 1269 1253 1250
Peak Current Nom Ip Arms 34.5 56.1 70.5 36.3 58.6 73.5 38.7 55.5 78.3
Torque Constant ±10% Kt Nm/Arms 2.6 1.58 1.3 3.5 2.13 1.7 4.14 2.84 2.0
lb-in/Arms 23.0 14.0 11.5 31.0 18.9 15 36.6 25.1 17.7
Back EMF Constant ±10% Ke V/krpm 169 102 81.2 225 137 109 266 183 129
Motor Constant Nom Km N-m/√W 2.21 2.18 2.08 2.93 2.82 2.67 3.51 3.38 3.27
lb-in/√W 19.6 19.3 18.4 25.9 25.0 23.6 31.0 29.9 28.9
Resistance (line-line) ±10% Rm ohm 0.92 0.35 0.26 0.95 0.38 0.25 0.93 0.47 0.25
Inductance (line-line)   L mH 13.6 5.0 3.2 15.7 5.9 3.7 16.4 7.7 3.8
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 65 92 120
lb-in-s2 0.057 0.082 0.11

AKM8x

Parameters Tol Symbol Units AKM82T AKM83T AKM84T
Max Rated DC Bus Voltage Max Vbus Vdc 640 640 640
Continuous Torque (Stall) for ΔT winding = 100°C Nom Tcs Nm 75 130 180
lb-in 664 1151 1593
Continuous Current (Stall) Nom Ics Arms 48 62 67
Continuous Torque (Stall) for ΔT winding = 60°C Nom Tcs Nm 58.1 100 140
lb-in 514 885 1239
Max Mechanical Speed Nom Nmax rpm 3000 3000 3000
Peak Torque Nom Tp Nm 210 456 668
lb-in 1859 4036 5912
Peak Current Nom Ip Arms 240 310 335
Torque Constant ±10% Kt Nm/Arms 1.6 2.1 2.7
lb-in/Arms 14 19 23.8
Back EMF Constant ±10% Ke V/krpm 108 140 177
Motor Constant Nom Km N-m/√W 4.31 6.94 9.15
lb-in/√W 38.1 61.4 81.0
Resistance (line-line) ±10% Rm ohm 0.092 0.061 0.058
Inductance (line-line)   L mH 2.73 2.36 2.5
Inertia (includes Resolver feedback) ±10% Jm kg-cm2 172 334 495
lb-in-s2 0.15 0.29 0.43