{"publisher":"Xirkit — the structured parts marketplace","canonical":"https://www.xirkit.io/products/cubemars-ak80-9-v3-0-kv100-actuator-6f6e","markdown":"https://www.xirkit.io/products/cubemars-ak80-9-v3-0-kv100-actuator-6f6e/data.md","mcp":"https://www.xirkit.io/mcp","note":"Every value is traced to a cited source (see sources and per-value src). Null means unknown, never zero.","record":{"id":"6f6e4496-3922-5318-840b-3bbf3f5f2b1a","mpn":"AK80-9 V3.0 KV100","name":"CubeMars AK80-9 V3.0 KV100 Actuator","manufacturer":"CubeMars","family":"actuator","summary":"CubeMars AK80-9 V3.0 KV100 quasi-direct-drive robotic actuator: BLDC motor + 9:1 planetary gearbox + driver + 16-bit magnetic encoder, 9 N·m rated / 22 N·m peak, 570 rpm no-load at 48 V, 15 arcmin backlash, 0.51 N·m back-drive, CAN on XT30 2+2 + UART, Ø98 × 38.5 mm, 490 g.","schema_version":"3.0","revision":null,"tags":["actuator","quasi-direct-drive actuator","robotic actuator","joint actuator","planetary gearbox","can bus","bldc","cubemars","robotics","legged robot","exoskeleton","mit mode"],"sources":[{"other":{},"id":"datasheet","url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","title":"CubeMars AK80-9 V3.0 KV100 Actuator datasheet","publisher":"CubeMars","kind":"datasheet","retrieved_at":"2026-09-28T12:45:15+00:00","field_paths":["spec.constraints.electrical.supply_voltage_max_v","spec.constraints.electrical.supply_voltage_min_v","spec.constraints.thermal.operating_temp_max_c","spec.constraints.thermal.operating_temp_min_c","spec.geometry.body_diameter_mm","spec.geometry.body_length_mm","spec.geometry.cad.bbox.height_mm","spec.geometry.cad.bbox.length_mm","spec.geometry.cad.bbox.width_mm","spec.geometry.cad.envelope_complete","spec.geometry.cad.mesh_path","spec.geometry.cad.step_path","spec.geometry.cad.verification","spec.geometry.dimensions.height_mm","spec.geometry.dimensions.length_mm","spec.geometry.dimensions.width_mm","spec.geometry.other.weight_g","spec.provides.actuator_type","spec.provides.backdrive_torque_nm","spec.provides.backlash_deg","spec.provides.control_interface","spec.provides.control_modes","spec.provides.encoder","spec.provides.encoder_bits","spec.provides.features","spec.provides.gear_ratio","spec.provides.gear_type","spec.provides.integrated_driver","spec.provides.kt_nm_per_a","spec.provides.kv_rpm_per_v","spec.provides.motor_type","spec.provides.no_load_speed_rpm","spec.provides.other.insulation_class","spec.provides.other.pole_pairs","spec.provides.other.rated_power_w","spec.provides.peak_torque_nm","spec.provides.rated_speed_rpm","spec.provides.rated_torque_nm","spec.provides.rotor_inertia_gcm2","spec.provides.torque_density_nm_per_kg","spec.usage.connectors","spec.usage.pinout","spec.usage.pinout_complete","spec.usage.requirements.other.peak_current_a","spec.usage.requirements.rated_current_a","spec.usage.requirements.rated_voltage_v"],"notes":"sha256 4b73fc2c4deff532f0d5d6564f7440eeaf72513c39f24197b7064e8f7b62376b"},{"other":{},"id":"offer0","url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","title":"www.cubemars.com listing","publisher":null,"kind":"distributor","retrieved_at":"2026-09-28T12:49:47+00:00","field_paths":["offers"],"notes":null}],"assets":[{"other":{},"kind":"datasheet","url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","label":"Datasheet","verification":"manufacturer","notes":null},{"other":{},"kind":"image","url":"https://www.cubemars.com/images/202504/goods_img/1745216270188262374.jpg","label":"CubeMars AK80-9 V3.0 KV100 robotic actuator — output face","verification":"manufacturer","notes":"inspected: black round actuator, output flange with bolt circle and centre bearing; face engraved AK80-9 V3.0 KV100"},{"other":{},"kind":"cad","url":"ak80-9-v3-kv100.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed"}],"offers":[{"other":{"sku":"T-MOTOR001195","price_breaks":[]},"supplier":"www.cubemars.com","url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","currency":"USD","unit_price":479.9,"stock_status":"in_stock","region":"US","minimum_quantity":null,"checked_at":"2026-09-28T12:49:47+00:00","lead_time_days_min":null,"lead_time_days_max":null,"destination":"US","destination_postal_code":null,"notes":null}],"best_for":[{"other":{},"label":"Robot joints and actuation","reason":"quasi-direct-drive actuator: 9 N·m rated / 22 N·m peak at 9:1; 0.51 N·m back-drive torque — backdrivable for legged / contact-rich joints.","basis":"engineering_inference"},{"other":{},"label":"Mobile robot drive trains","reason":"CubeMars lists AGV among the applications (spec grid 'Application' row).","basis":"manufacturer"},{"other":{},"label":"Robotics and motor control","reason":"CAN bus with position, speed, torque and MIT (impedance) modes — the control loops a legged or collaborative joint needs.","basis":"engineering_inference"}],"children":[],"spec":{"other":{},"usage":{"other":{},"pinout":[{"id":"POWER_CAN","kind":"power_in","label":"Power + CAN","notes":"DC supply 48 V and CAN on one XT30 2+2 connector","other":{},"connector":"XT30PW-M (XT30 2+2)","functions":["power_in"],"electrical":{}},{"id":"UART","kind":"uart_tx","label":"UART","notes":"serial link to the upper-computer tool (3-pin)","other":{},"connector":"A1257WR-S-3P","functions":["uart"],"electrical":{}}],"derived":{},"connectors":[{"id":"power_can","kind":"XT30 2+2 (XT30PW-M): power and CAN in one connector","other":{}},{"id":"uart","kind":"A1257WR-S-3P UART connector","other":{}}],"pin_mappings":[],"requirements":{"other":{"peak_current_a":28},"data_inputs":[],"power_inputs":[],"rated_current_a":12,"rated_voltage_v":48},"pinout_complete":true},"geometry":{"cad":{"bbox":{"width_mm":98,"height_mm":38.5,"length_mm":98},"features":[],"mesh_path":"ak80-9-v3-kv100.stl","step_path":"ak80-9-v3-kv100.step","assumptions":[],"verification":"generated","envelope_complete":true},"other":{"weight_g":490},"derived":{},"dimensions":{"other":{},"width_mm":98,"height_mm":38.5,"length_mm":98},"feature_boxes":[],"body_length_mm":38.5,"mounting_holes":[],"body_diameter_mm":98},"provides":{"other":{"pole_pairs":21,"rated_power_w":368,"insulation_class":"C"},"derived":{},"encoder":"magnetic, 16-bit, single (inner loop)","features":["Integrated BLDC motor, 9:1 planetary gearbox and driver board","Control modes: position, speed, torque and MIT hybrid","Output bearing load ratings: 2760 N dynamic, 2810 N static","Offered with or without the driver board (store option)"],"gear_type":"planetary","gear_ratio":9,"motor_type":"bldc","kt_nm_per_a":0.095,"backlash_deg":0.25,"capabilities":[],"encoder_bits":16,"kv_rpm_per_v":100,"actuator_type":"qdd","control_modes":["position","speed","torque","MIT"],"peak_torque_nm":22,"rated_speed_rpm":390,"rated_torque_nm":9,"control_interface":"CAN","integrated_driver":true,"no_load_speed_rpm":570,"rotor_inertia_gcm2":1118.324,"backdrive_torque_nm":0.51,"torque_density_nm_per_kg":44.9},"compliance":{"other":{},"derived":{},"certifications":[]},"constraints":{"other":{},"derived":{},"thermal":{"other":{},"operating_temp_max_c":50,"operating_temp_min_c":-20},"electrical":{"other":{},"supply_voltage_max_v":48,"supply_voltage_min_v":48}}},"other":null,"source_type":"pdf","source_ref":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","datasheet":{"cad":{"bbox":{"max":[49,49,38.5],"min":[-49,-49,0],"width_mm":98,"height_mm":38.5,"length_mm":98},"check":{"failed":[],"passed":true},"expected":[{"d":98,"x":0,"y":0,"axis":"z","name":"envelope","what":"cylinder"},{"what":"envelope_z","value":38.5}],"archetype":"envelope_cylinder","mesh_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/ak80-9-v3-kv100/07_cad/part.stl","step_path":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/ak80-9-v3-kv100/07_cad/part.step","views_png":"/Users/sumeet/Documents/Xirkit Parent/XirkitOnboard/work/ak80-9-v3-kv100/07_cad/views.png","export_stl":"ak80-9-v3-kv100.stl","assumptions":[],"export_step":"ak80-9-v3-kv100.step","envelope_complete":true},"chips":[],"fields":{"kt":{"src":{"page":5,"quote":"| Insulation Level | C | KT (Nm/A) | 0.095 |","method":"table","table_id":"5_1"},"unit":"N·m/A","value":0.095},"kv":{"src":{"page":5,"quote":"| Winding Type | Delta | KV (rpm/V) | 100 |","method":"table","table_id":"5_1"},"unit":"rpm/V","value":100},"weight":{"src":{"page":5,"quote":"| Weight (g) | 490 |  |  |","method":"table","table_id":"5_1"},"unit":"g","value":490},"encoder":{"src":{"page":5,"quote":"| Rated voltage (V) | 48 | Inner ring encoder resolution | 16bit |","method":"table","table_id":"5_1"},"unit":null,"value":"magnetic, 16-bit, single (inner loop)"},"backlash":{"src":{"page":5,"quote":"| Backlash (arcmin) | 15 | Maximum Torque Density(Nm/kg) | 44.9 |","method":"table","table_id":"5_1"},"orig":{"unit":"arcmin","value":15},"unit":"deg","value":0.25},"connector":{"src":{"page":5,"quote":"Power CAN cable ×1 + Serial cable ×1]","method":"text"},"unit":null,"value":"XT30 2+2 (power + CAN), A1257WR-S-3P UART"},"gear_type":{"src":{"page":3,"quote":"9:1 planetary gearbox","method":"text"},"unit":null,"value":"planetary"},"gear_ratio":{"src":{"page":5,"quote":"| Reduction Ratio | 9:1 | Motor constant(Nm/√W) | 0.2387 |","method":"table","table_id":"5_1"},"unit":null,"value":9},"motor_type":{"src":{"page":3,"quote":"integrates a brushless DC motor, 9:1 planetary gearbox","method":"text"},"unit":null,"value":"bldc"},"pole_pairs":{"src":{"page":5,"quote":"| Pole Pairs | 21 | Rotor Inertia (gcm²) | 1118.3238 |","method":"table","table_id":"5_1"},"unit":null,"value":21},"peak_torque":{"src":{"page":5,"quote":"| Application | Legged Robot,Exoskeleton,AGV | Peak torque (Nm) | 22 |","method":"table","table_id":"5_1"},"unit":"N·m","value":22},"rated_power":{"src":{"page":5,"quote":"| AK Series Robotic Actuator | AK80-9 V3.0 KV100 | 48 | 368 | 9 | 12 | 390 | 22 | 28 | 570 | 9:1 | 490 | Ф98*38.5 | Yes | Single |  |","method":"table","table_id":"5_2"},"unit":"W","value":368},"rated_speed":{"src":{"page":5,"quote":"| Rated speed (rpm) | 390 | Outer ring encoder resolution | / |","method":"table","table_id":"5_1"},"unit":"rpm","value":390},"peak_current":{"src":{"page":5,"quote":"| Driving way | FOC | Peak current (ADC) | 28 |","method":"table","table_id":"5_1"},"unit":"A","value":28},"rated_torque":{"src":{"page":5,"quote":"| Rated torque (Nm) | 9 | Outer ring encoder type | / |","method":"table","table_id":"5_1"},"unit":"N·m","value":9},"actuator_type":{"src":{"page":3,"quote":"integrates a brushless DC motor, 9:1 planetary gearbox, and driver board","method":"text"},"unit":null,"value":"qdd"},"control_modes":{"src":{"page":3,"quote":"multi-loop control (position, speed, torque, and MIT hybrid mode)","method":"text"},"unit":null,"value":["position","speed","torque","MIT"]},"no_load_speed":{"src":{"page":5,"quote":"| Operation ambient temperature | -20℃~50℃ | No-load speed (rpm) | 570 |","method":"table","table_id":"5_1"},"unit":"rpm","value":570},"rated_current":{"src":{"page":5,"quote":"| Rated current (ADC) | 12 | Number of encoder | 1 |","method":"table","table_id":"5_1"},"unit":"A","value":12},"rated_voltage":{"src":{"page":5,"quote":"| Rated voltage (V) | 48 | Inner ring encoder resolution | 16bit |","method":"table","table_id":"5_1"},"unit":"V","value":48},"rotor_inertia":{"src":{"page":5,"quote":"| Pole Pairs | 21 | Rotor Inertia (gcm²) | 1118.3238 |","method":"table","table_id":"5_1"},"orig":{"unit":"g·cm²","value":1118.3238},"unit":"kg·m²","value":0.0001118324},"torque_density":{"src":{"page":5,"quote":"| Backlash (arcmin) | 15 | Maximum Torque Density(Nm/kg) | 44.9 |","method":"table","table_id":"5_1"},"unit":"N·m/kg","value":44.9},"backdrive_torque":{"src":{"page":5,"quote":"| Back drive (Nm) | 0.51 | Mechanical Time Constant (ms) | 0.725 |","method":"table","table_id":"5_1"},"unit":"N·m","value":0.51},"insulation_class":{"src":{"page":5,"quote":"| Insulation Level | C | KT (Nm/A) | 0.095 |","method":"table","table_id":"5_1"},"unit":null,"value":"C"},"control_interface":{"src":{"page":5,"quote":"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","method":"text"},"unit":null,"value":"CAN"},"integrated_driver":{"src":{"page":3,"quote":"9:1 planetary gearbox, and driver board","method":"text"},"unit":null,"value":true},"operating_temperature":{"src":{"page":5,"quote":"| Operation ambient temperature | -20℃~50℃ | No-load speed (rpm) | 570 |","method":"table","table_id":"5_1"},"unit":"°C","value":[-20,50]}},"groups":{"all":["POWER_CAN","UART"]},"source":{"url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","pages":5,"sha256":"4b73fc2c4deff532f0d5d6564f7440eeaf72513c39f24197b7064e8f7b62376b","onboarded_at":"2026-09-29T07:22:58+00:00"},"coverage":{"pct":100,"score":"34/34","passed":true,"explained_nulls":["mount_pattern","lifecycle","compliance"]},"entities":[{"id":"POWER_CAN","attrs":{"kind":"power_in","label":"Power + CAN","connector":"XT30PW-M (XT30 2+2)","designator":"POWER_CAN","description":"DC supply 48 V and CAN on one XT30 2+2 connector"},"sources":[{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"}],"attr_src":{"kind":{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"label":{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"connector":{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"designator":{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"description":{"page":5,"quote":"| Basic dynamic load rating Cr(N) | 2760 | Power connector | XT30PW-M |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"}},"functions":[],"electrical":{},"entity_type":"connector_pin"},{"id":"UART","attrs":{"kind":"uart_tx","label":"UART","connector":"A1257WR-S-3P","designator":"UART","description":"serial link to the upper-computer tool (3-pin)"},"sources":[{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"}],"attr_src":{"kind":{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"label":{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"connector":{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"designator":{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"},"description":{"page":5,"quote":"| Noise dB (65CM away the motor) | 60 | UART connector | A1257WR-S-3P |","method":"table","fragment":"entities_connectors.json","table_id":"5_1"}},"functions":[],"electrical":{},"entity_type":"connector_pin"}],"taxonomy":{"dimensions":{"role":"mechanical_dimensions","definition":"Size (diameter × length), packing size, dimension drawing or mounting pattern"},"site_chrome":{"role":"other","definition":"Website navigation, FAQs, reviews, related products, support links, footers"},"model_comparison":{"role":"electrical_ratings","definition":"Comparison table of several models of the series (one row per model: voltage, power, torque, current, speed, ratio, weight, size, encoder)"},"pricing_ordering":{"role":"ordering_commercial","definition":"Price, options (KV, driver board yes/no), SKU, shipping, payment, points"},"product_overview":{"role":"identity_overview","definition":"Product description / highlights: what the actuator integrates (motor, gearbox, driver, encoder), control modes, protections, applications"},"connectors_wiring":{"role":"pins_or_terminals","definition":"Power / CAN / UART connectors, cables in the wiring pack, pin assignments"},"specification_table":{"role":"electrical_ratings","definition":"Specification grid: voltage, rated/peak torque, speeds, currents, Kt/Kv, gear ratio, backlash, back-drive, encoder, inertia, weight, connectors, temperature"}},"variants":{},"commercial":{"other":{},"checked_at":"2026-09-28T12:49:47+00:00","compliance":[],"ordering_codes":[{"code":"AK80-9 V3.0 KV100","description":"model; options: with / without driver board"},{"code":"T-MOTOR001195","description":"store SKU"}]},"mechanical":{"dims":{"length":{"src":{"page":5,"quote":"| AK Series Robotic Actuator | AK80-9 V3.0 KV100 | 48 | 368 | 9 | 12 | 390 | 22 | 28 | 570 | 9:1 | 490 | Ф98*38.5 | Yes | Single |  |","method":"table","table_id":"5_2"},"note":"Ф98*38.5 (diameter × length)","unit":"mm","value":38.5},"diameter":{"src":{"page":5,"quote":"| AK Series Robotic Actuator | AK80-9 V3.0 KV100 | 48 | 368 | 9 | 12 | 390 | 22 | 28 | 570 | 9:1 | 490 | Ф98*38.5 | Yes | Single |  |","method":"table","table_id":"5_2"},"note":"Ф98*38.5 (diameter × length)","unit":"mm","value":98}},"kind":"mechanical","holes":[],"units":"mm","origin":"axis = Z at x=y=0; envelope from z=0 to z=length","features":[],"archetype":"envelope_cylinder","assumptions":{}},"page_index":[{"page":1,"tags":[],"primary":"none_of_these"},{"page":2,"tags":["pricing_ordering"],"primary":"pricing_ordering"},{"page":3,"tags":["product_overview"],"primary":"product_overview"},{"page":4,"tags":["dimensions"],"primary":"dimensions"},{"page":5,"tags":["specification_table","model_comparison","product_overview","dimensions","site_chrome"],"primary":"product_overview"}],"performance":[],"schema_name":"datasheet-1","part_ratings":{}},"use_cases":["joint-actuation","mobile-robot-drive","robot-motor-control"],"commercial":{"other":{},"checked_at":"2026-09-28T12:49:47+00:00","compliance":[],"ordering_codes":[{"code":"AK80-9 V3.0 KV100","description":"model; options: with / without driver board"},{"code":"T-MOTOR001195","description":"store SKU"}]},"assembly_label":"Actuator","assembly_level":2,"search_aliases":["AK80-9 V3.0 KV100","9 Nm 9:1 quasi-direct-drive actuator","CubeMars AK80-9 V3.0 KV100","T-Motor AK80-9 V3.0 KV100"],"design":{"assets":[{"other":{},"kind":"datasheet","url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html","label":"Datasheet","verification":"manufacturer","notes":null,"resolved_url":"https://www.cubemars.com/product/ak80-9-v3-0-robotic-actuator.html"},{"other":{},"kind":"image","url":"https://www.cubemars.com/images/202504/goods_img/1745216270188262374.jpg","label":"CubeMars AK80-9 V3.0 KV100 robotic actuator — output face","verification":"manufacturer","notes":"inspected: black round actuator, output flange with bolt circle and centre bearing; face engraved AK80-9 V3.0 KV100","resolved_url":"https://www.cubemars.com/images/202504/goods_img/1745216270188262374.jpg"},{"other":{},"kind":"cad","url":"ak80-9-v3-kv100.step","label":"STEP (generated from datasheet drawing)","verification":"generated","notes":"cad_check passed","resolved_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/ak80-9-v3-kv100.step"}],"cad":{"verification":"generated","envelope_complete":true,"assumptions":[],"step_path":"ak80-9-v3-kv100.step","mesh_path":"ak80-9-v3-kv100.stl","footprint_svg_path":null,"bbox":{"length_mm":98,"width_mm":98,"height_mm":38.5},"features":[],"step_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/ak80-9-v3-kv100.step","mesh_url":"https://wlrumvsjnliyuuvzwnrt.supabase.co/storage/v1/object/public/geometry/ak80-9-v3-kv100.stl","footprint_svg_url":null},"limitations":["Generated geometry is an approximate mechanical envelope; inspect original manufacturer CAD when available.","Generated footprint_svg_path is an outline, not a verified electrical land pattern.","Xirkit does not run fit checks; download step_url and test fit against your own enclosure."]}}}