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CHA

Largest hollow shaft with precision output bearing

CHA Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in eight sizes with gear ratios between 30 and 160:1, the actuators can provide maximum torques from 9 to 1840 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations.

To adapt to your specific application, the CHA Series offers many possible combinations when selecting the motor winding, motor feedback, brake, various sensors and cable as well as connector options. The integrated hollow shaft can be used to feed through supply lines or services for additional axes, enabling space saving designs with minimal installation dimensions required. With a reinforced output bearing offering maximum tilting rigidity, the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable machine characteristics, increased operating reliability and consistent quality. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.

By combining the CHA Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.

Customer Benefits and Features

Optimised for your applications

  • Reduced material use
  • Higher product quality
  • Less waste
  • Consistent quality
  • High availability
  • Reduced Total Cost of Ownership
  • Reduced maintenance costs
  • Optimal design solution
  • Increased operating reliability
  • Reduced set up time
  • Shorter time to market
  • Flexible control configuration
  • Easy load connection
  • Low manufacturing and installation costs

Features

  • Excellent lifetime precision
  • Large hollow shaft
  • Easy to customise
  • Servo controller available
  • Various feedback systems
  • Integrated high capacity output bearing
  • Third party controller compatibility
  • Corrosion protection

Engineering Data

 Engineering Data

AC Servo Actuators CHA

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Combinations

Size 14A 17A 20A 25A 32A 40A 50A 58A
Ratio 30
50
80
100
120
160
 
Motor winding and connector configuration E
H
N
 
Motor feedback C1024
M512P
RES
D2048
M128S
 
Brake B
 
Option 1 (Sensor) EC
 
Option 2 (Cable/Connector) K
R
S

On request

Available

Technical data

Ordering code

Define the ordering code for your customised product,
in consideration with your requested product characteristics.

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14A 17A 20A 20A-M512P 25A 25A-M512P 32A 32A-M512P 40A 40A-M512P 50A 50A-M512P 58A 58A-M512P
Change size Unit CHA-14A
Ratio i [] 30 50 80 100
Maximum output torque Tmax [Nm] 9 18 23 28
Maximum output speed nmax [min-1] 283 170 106 85
Continuous stall torque T0 [Nm] 6.8 6.9 11 11
Moment of inertia with resolver RES without brake Jout [kgm2] 0.031 0.087 0.222 0.347
Moment of inertia with resolver RES and brake Jout [kgm2] 0.039 0.109 0.28 0.438
Moment of inertia with encoder D2048 without brake Jout [kgm2] 0.02 0.056 0.142 0.223
Moment of inertia with encoder D2048 and brake Jout [kgm2] 0.028 0.078 0.201 0.314
Moment of inertia with encoder M128S without brake Jout [kgm2] 0.052 0.154 0.371 0.58
Moment of inertia with encoder M128S and brake Jout [kgm2] 0.06 0.168 0.429 0.671
Brake holding torque TBR [Nm] 9 18 23 28
Weight without brake m [kg] ca. 2.0 ca. 2.0 ca. 2.0 ca. 2.0
Weight with brake m [kg] ca. 2.1 ca. 2.1 ca. 2.1 ca. 2.1
Hollow shaft diameter dH [mm] 12 12 12 12
Transmission accuracy [arcmin] < 2 < 1.5 < 1.5 < 1.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 3.4 5.7 7.1 7.1
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 1450 1450 1450 1450
Dynamic axial load FA dyn (max) [N] 2880 2880 2880 2880
Dynamic tilting moment Mdyn (max) [Nm] 73 73 73 73
Motor feedback   CHA-14A
Motor feedback RES / D2048 / M128S RES / D2048 / M128S RES / D2048 / M128S RES / D2048 / M128S
Length (without brake) L [mm] 97.5 97.5 97.5 97.5
Length (with brake) L1 [mm] 120.6 120.6 120.6 120.6

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30 50 80 100
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Change size Unit CHA-17A
Ratio i [] 30 50 80 100 120
Maximum output torque Tmax [Nm] 16 34 43 54 54
Maximum output speed nmax [min-1] 243 146 91 73 61
Continuous stall torque T0 [Nm] 12 26 27 39 39
Moment of inertia with resolver RES without brake Jout [kgm2] 0.095 0.264 0.676 1.056 1.52
Moment of inertia with resolver RES and brake Jout [kgm2] 0.104 0.289 0.741 1.158 1.667
Moment of inertia with encoder D2048 without brake Jout [kgm2] 0.047 0.131 0.335 0.523 0.753
Moment of inertia with encoder D2048 and brake Jout [kgm2] 0.056 0.156 0.4 0.625 0.9
Moment of inertia with encoder M128S without brake Jout [kgm2] 0.078 0.218 0.557 0.871 1.254
Moment of inertia with encoder M128S and brake Jout [kgm2] 0.088 0.243 0.623 0.973 1.401
Brake holding torque TBR [Nm] 15 25 40 50 54
Weight without brake m [kg] ca. 3.0 ca. 3.0 ca. 3.0 ca. 3.0 ca. 3.0
Weight with brake m [kg] ca. 3.2 ca. 3.2 ca. 3.2 ca. 3.2 ca. 3.2
Hollow shaft diameter dH [mm] 16 16 16 16 16
Transmission accuracy [arcmin] < 2 < 1.5 < 1.5 < 1.5 < 1.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 6.7 13 16 16 16
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 2300 2300 2300 2300 2300
Dynamic axial load FA dyn (max) [N] 4600 4600 4600 4600 4600
Dynamic tilting moment Mdyn (max) [Nm] 114 114 114 114 114
Motor feedback   CHA-17A
Motor feedback RES / D2048 / M128S RES / D2048 / M128S RES / D2048 / M128S RES / D2048 / M128S RES / D2048 / M128S
Length (without brake) L [mm] 101 101 101 101 101
Length (with brake) L1 [mm] 123 123 123 123 123

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30 50 80 100 120
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Change size Unit CHA-20A
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 27 56 74 82 87 92
Maximum output speed nmax [min-1] 200 120 75 60 50 38
Continuous stall torque T0 [Nm] 19 32 47 49 49 49
Moment of inertia with resolver RES without brake Jout [kgm2] 0.1 0.28 0.72 1.12 1.61 2.86
Moment of inertia with resolver RES and brake Jout [kgm2] 0.13 0.35 0.89 1.39 2 3.5
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 27 45 72 82 87 92
Weight without brake m [kg] 3.2 3.2 3.2 3.2 3.2 3.2
Weight with brake m [kg] 3.9 3.9 3.9 3.9 3.9 3.9
Hollow shaft diameter dH [mm] 18 18 18 18 18 18
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 11 23 29 29 29 29
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 8600 8600 8600 8600 8600 8600
Dynamic axial load FA dyn (max) [N] 15800 15800 15800 15800 15800 15800
Dynamic tilting moment Mdyn (max) [Nm] 172 172 172 172 172 172
Motor feedback   CHA-20A
Motor feedback C1024 C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 118 118 118 118 118 118
Length (with brake) L1 [mm] 138 138 138 138 138 138

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30 50 80 100 120 160
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Change size Unit CHA-20A-M512P
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 27 56 74 82 87 92
Maximum output speed nmax [min-1] 200 120 75 60 50 38
Continuous stall torque T0 [Nm] 19 32 47 49 49 49
Moment of inertia with resolver RES without brake Jout [kgm2] 0.21 0.58 1.48 2.32 3.3 5.9
Moment of inertia with resolver RES and brake Jout [kgm2] 0.23 0.65 1.65 2.6 3.7 6.6
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 27 45 72 82 87 92
Weight without brake m [kg] 4.2 4.2 4.2 4.2 4.2 4.2
Weight with brake m [kg] 4.9 4.9 4.9 4.9 4.9 4.9
Hollow shaft diameter dH [mm] 18 18 18 18 18 18
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 11 23 29 29 29 29
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 8600 8600 8600 8600 8600 8600
Dynamic axial load FA dyn (max) [N] 15800 15800 15800 15800 15800 15800
Dynamic tilting moment Mdyn (max) [Nm] 172 172 172 172 172 172
Motor feedback   CHA-20A-M512P
Motor feedback M512P M512P M512P M512P M512P M512P
Length (without brake) L [mm] 118 118 118 118 118 118
Length (with brake) L1 [mm] 137 137 137 137 137 137

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30 50 80 100 120 160
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Change size Unit CHA-25A
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 50 98 137 157 167 176
Maximum output speed nmax [min-1] 187 112 70 56 47 35
Continuous stall torque T0 [Nm] 38 55 87 108 108 108
Moment of inertia with resolver RES without brake Jout [kgm2] 0.29 0.8 2 3.2 4.6 8.1
Moment of inertia with resolver RES and brake Jout [kgm2] 0.35 0.97 2.5 3.9 5.6 9.9
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 54 90 137 157 167 176
Weight without brake m [kg] 4.9 4.9 4.9 4.9 4.9 4.9
Weight with brake m [kg] 6.1 6.1 6.1 6.1 6.1 6.1
Hollow shaft diameter dH [mm] 27 27 27 27 27 27
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 21 44 57 57 57 57
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 12700 12700 12700 12700 12700 12700
Dynamic axial load FA dyn (max) [N] 19200 19200 19200 19200 19200 19200
Dynamic tilting moment Mdyn (max) [Nm] 254 254 254 254 254 254
Motor feedback   CHA-25A
Motor feedback C1024 C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 132.5 132.5 132.5 132.5 132.5 132.5
Length (with brake) L1 [mm] 160 160 160 160 160 160

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30 50 80 100 120 160
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Change size Unit CHA-25A-M512P
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 50 98 137 157 167 176
Maximum output speed nmax [min-1] 187 112 70 56 47 35
Continuous stall torque T0 [Nm] 38 55 87 108 108 108
Moment of inertia with resolver RES without brake Jout [kgm2] 0.39 1 2.8 4.4 6.3 11,2
Moment of inertia with resolver RES and brake Jout [kgm2] 0.46 1.27 3.2 5.1 7.3 13
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 54 90 137 157 167 176
Weight without brake m [kg] 5.9 5.9 5.9 5.9 5.9 5.9
Weight with brake m [kg] 7.1 7.1 7.1 7.1 7.1 7.1
Hollow shaft diameter dH [mm] 27 27 27 27 27 27
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 21 44 57 57 57 57
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 12700 12700 12700 12700 12700 12700
Dynamic axial load FA dyn (max) [N] 19200 19200 19200 19200 19200 19200
Dynamic tilting moment Mdyn (max) [Nm] 254 254 254 254 254 254
Motor feedback   CHA-25A-M512P
Motor feedback M512P M512P M512P M512P M512P M512P
Length (without brake) L [mm] 132 132 132 132 132 132
Length (with brake) L1 [mm] 159.5 159.5 159.5 159.5 159.5 159.5

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30 50 80 100 120 160
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Change size Unit CHA-32A
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 100 216 304 333 353 372
Maximum output speed nmax [min-1] 160 96 60 48 40 30
Continuous stall torque T0 [Nm] 44 71 119 154 179 216
Moment of inertia with resolver RES without brake Jout [kgm2] 0.44 1.22 3.1 4.9 7.1 12.5
Moment of inertia with resolver RES and brake Jout [kgm2] 0.53 1.47 3.8 5.9 8.5 15
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 54 90 144 180 216 288
Weight without brake m [kg] 6.6 6.6 6.6 6.6 6.6 6.6
Weight with brake m [kg] 7.8 7.8 7.8 7.8 7.8 7.8
Hollow shaft diameter dH [mm] 32 32 32 32 32 32
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 49 98 120 120 120 120
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 14600 14600 14600 14600 14600 14600
Dynamic axial load FA dyn (max) [N] 22300 22300 22300 22300 22300 22300
Dynamic tilting moment Mdyn (max) [Nm] 578 578 578 578 578 578
Motor feedback   CHA-32A
Motor feedback C1024 C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 145 145 145 145 145 145
Length (with brake) L1 [mm] 172.5 172.5 172.5 172.5 172.5 172.5

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30 50 80 100 120 160
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Change size Unit CHA-32A-M512P
Ratio i [] 30 50 80 100 120 160
Maximum output torque Tmax [Nm] 100 216 304 333 353 372
Maximum output speed nmax [min-1] 160 96 60 48 40 30
Continuous stall torque T0 [Nm] 44 71 119 154 179 216
Moment of inertia with resolver RES without brake Jout [kgm2] 0.55 1.5 3.9 6.1 8.7 15.6
Moment of inertia with resolver RES and brake Jout [kgm2] 0.64 1.77 4.5 7.1 10.2 18.2
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 54 90 144 180 216 288
Weight without brake m [kg] 7.6 7.6 7.6 7.6 7.6 7.6
Weight with brake m [kg] 8.8 8.8 8.8 8.8 8.8 8.8
Hollow shaft diameter dH [mm] 32 32 32 32 32 32
Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.8 < 0.8 < 0.8
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 49 98 120 120 120 120
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 14600 14600 14600 14600 14600 14600
Dynamic axial load FA dyn (max) [N] 22300 22300 22300 22300 22300 22300
Dynamic tilting moment Mdyn (max) [Nm] 578 578 578 578 578 578
Motor feedback   CHA-32A-M512P
Motor feedback M512P M512P M512P M512P M512P M512P
Length (without brake) L [mm] 144.5 144.5 144.5 144.5 144.5 144.5
Length (with brake) L1 [mm] 172 172 172 172 172 172

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30 50 80 100 120 160
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Change size Unit CHA-40A
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 402 519 568 617 647
Maximum output speed nmax [min-1] 80 50 40 33 25
Continuous stall torque T0 [Nm] 125 208 260 314 420
Moment of inertia with resolver RES without brake Jout [kgm2] 3.1 7.9 12.3 17.7 31.4
Moment of inertia with resolver RES and brake Jout [kgm2] 3.6 9.1 14.2 20.4 36.3
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 225 360 450 540 647
Weight without brake m [kg] 11.7 11.7 11.7 11.7 11.7
Weight with brake m [kg] 13.8 13.8 13.8 13.8 13.8
Hollow shaft diameter dH [mm] 39 39 39 39 39
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 180 230 230 230 230
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 27500 27500 27500 27500 27500
Dynamic axial load FA dyn (max) [N] 42000 42000 42000 42000 42000
Dynamic tilting moment Mdyn (max) [Nm] 886 886 886 886 886
Motor feedback   CHA-40A
Motor feedback C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 158 158 158 158 158
Length (with brake) L1 [mm] 177 177 177 177 177

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50 80 100 120 160
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Change size Unit CHA-40A-M512P
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 402 519 568 617 647
Maximum output speed nmax [min-1] 80 50 40 33 25
Continuous stall torque T0 [Nm] 125 208 260 314 420
Moment of inertia with resolver RES without brake Jout [kgm2] 3.4 8.6 13.5 19.4 34.6
Moment of inertia with resolver RES and brake Jout [kgm2] 3.9 9.8 15.4 22.2 39.4
Moment of inertia with encoder D2048 without brake Jout [kgm2] 360 450
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 225 360 450 540 647
Weight without brake m [kg] 12.7 12.7 12.7 12.7 12.7
Weight with brake m [kg] 14.8 14.8 14.8 14.8 14.8
Hollow shaft diameter dH [mm] 39 39 39 39 39
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 180 230 230 230 230
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 27500 27500 27500 27500 27500
Dynamic axial load FA dyn (max) [N] 42000 42000 42000 42000 42000
Dynamic tilting moment Mdyn (max) [Nm] 886 886 886 886 886
Motor feedback   CHA-40A-M512P
Motor feedback M512P M512P M512P M512P M512P
Length (without brake) L [mm] 157 157 157 157 157
Length (with brake) L1 [mm] 176 176 176 176 176

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Change size Unit CHA-50A
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 715 941 980 1080 1180
Maximum output speed nmax [min-1] 70 44 35 30 22
Continuous stall torque T0 [Nm] 194 363 456 550 736
Moment of inertia with resolver RES without brake Jout [kgm2] 6.62 16.9 26.5 38.1 67.8
Moment of inertia with resolver RES and brake Jout [kgm2] 7.3 18.7 29.2 42 74.7
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 225 360 450 540 720
Weight without brake m [kg] 19.9 19.9 19.9 19.9 19.9
Weight with brake m [kg] 23.5 23.5 23.5 23.5 23.5
Hollow shaft diameter dH [mm] 45 45 45 45 45
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 340 440 440 440 440
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 37300 37300 37300 37300 37300
Dynamic axial load FA dyn (max) [N] 56100 56100 56100 56100 56100
Dynamic tilting moment Mdyn (max) [Nm] 1558 1558 1558 1558 1558
Motor feedback   CHA-50A
Motor feedback C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 189 189 189 189 189
Length (with brake) L1 [mm] 208 208 208 208 208

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50 80 100 120 160
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Change size Unit CHA-50A-M512P
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 715 941 980 1080 1180
Maximum output speed nmax [min-1] 70 44 35 30 22
Continuous stall torque T0 [Nm] 194 363 456 550 736
Moment of inertia with resolver RES without brake Jout [kgm2] 6.9 17.7 27.7 39.9 71
Moment of inertia with resolver RES and brake Jout [kgm2] 7.6 19.5 30.4 43.8 77.8
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 225 360 450 540 720
Weight without brake m [kg] 20.9 20.9 20.9 20.9 20.9
Weight with brake m [kg] 24.5 24.5 24.5 24.5 24.5
Hollow shaft diameter dH [mm] 45 45 45 45 45
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 340 440 440 440 440
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 37300 37300 37300 37300 37300
Dynamic axial load FA dyn (max) [N] 56100 56100 56100 56100 56100
Dynamic tilting moment Mdyn (max) [Nm] 1558 1558 1558 1558 1558
Motor feedback   CHA-50A-M512P
Motor feedback M512P M512P M512P M512P M512P
Length (without brake) L [mm] 188.5 188.5 188.5 188.5 188.5
Length (with brake) L1 [mm] 207.5 207.5 207.5 207.5 207.5

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50 80 100 120 160
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Change size Unit CHA-58A
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 1020 1480 1590 1720 1840
Maximum output speed nmax [min-1] 60 38 30 25 19
Continuous stall torque T0 [Nm] 280 532 670 805 1080
Moment of inertia with resolver RES without brake Jout [kgm2] 11.6 29.8 46.6 67.1 119
Moment of inertia with resolver RES and brake Jout [kgm2] 11.8 30.3 47.3 68.1 121
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 450 720 900 1080 1440
Weight without brake m [kg] 27.2 27.2 27.2 27.2 27.2
Weight with brake m [kg] 31 31 31 31 31
Hollow shaft diameter dH [mm] 45 45 45 45 45
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 540 710 710 710 710
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 38400 38400 38400 38400 38400
Dynamic axial load FA dyn (max) [N] 57700 57700 57700 57700 57700
Dynamic tilting moment Mdyn (max) [Nm] 2222 2222 2222 2222 2222
Motor feedback   CHA-58A
Motor feedback C1024 C1024 C1024 C1024 C1024
Length (without brake) L [mm] 205 205 205 205 205
Length (with brake) L1 [mm] 226 226 226 226 226

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50 80 100 120 160
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Change size Unit CHA-58A-M512P
Ratio i [] 50 80 100 120 160
Maximum output torque Tmax [Nm] 1020 1480 1590 1720 1840
Maximum output speed nmax [min-1] 60 38 30 25 19
Continuous stall torque T0 [Nm] 280 532 670 805 1080
Moment of inertia with resolver RES without brake Jout [kgm2] 11.9 30.6 47.8 68.8 122
Moment of inertia with resolver RES and brake Jout [kgm2] 12.1 31.1 48.5 69.8 124
Moment of inertia with encoder D2048 without brake Jout [kgm2]
Moment of inertia with encoder D2048 and brake Jout [kgm2]
Moment of inertia with encoder M128S without brake Jout [kgm2]
Moment of inertia with encoder M128S and brake Jout [kgm2]
Brake holding torque TBR [Nm] 450 720 900 1080 1440
Weight without brake m [kg] 28.2 28.2 28.2 28.2 28.2
Weight with brake m [kg] 32 32 32 32 32
Hollow shaft diameter dH [mm] 45 45 45 45 45
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5 < 0.5 < 0.5
Lost Motion [arcmin] < 1 < 1 < 1 < 1 < 1
Torsional stiffness K3 [x103 Nm/rad] 540 710 710 710 710
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 38400 38400 38400 38400 38400
Dynamic axial load FA dyn (max) [N] 57700 57700 57700 57700 57700
Dynamic tilting moment Mdyn (max) [Nm] 2222 2222 2222 2222 2222
Motor feedback   CHA-58A-M512P
Motor feedback M512P M512P M512P M512P M512P
Length (without brake) L [mm] 204.4 204.4 204.4 204.4 204.4
Length (with brake) L1 [mm] 225.4 225.4 225.4 225.4 225.4

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50 80 100 120 160
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Motor feedback

Encoder
Type Incremental Multiturn absolute
Ordering code D2048 C1024 M512P M128S
Manufacturers designation - CCK EQN 1125 -
Protocol - - EnDat® SSI (binary) BiSS (optional)
Power supply 5 VDC ±5% 5 VDC ±10% 3.6 - 14 VDC 5 - 30 VDC
Incremental signal EIA 422 1 Vss 1 Vss 1 Vss
Signal form Square wave sinusoidal sinusoidal sinusoidal
Resolution 2048 1024 512 128
Commutation signal 5 x U, V, W 1 x C+D 1 Vss - -
Reference signal 1 x Z 1 x R - -
Absolute position value/revolution - - 8192 (13 bit) 131072 (17 bit)
Revolutions - - 4096 (12 bit) 4096 (12 bit) Battery back up
Resolver
Type Resolver
Ordering Code   RES  
Power supply   7 VAC  
Input frequency   5 … 10 kHz  
Current dissipation   < 50 mA  
Number of pole pairs   1  
Transformation ratio   0,5 ±10%  
Position measuring system
Type Singleturn Absolut
Ordering code   EC  
Manufacturers designation   ECN 113  
Protocol   EnDat®  
Power supply   5 VDC ±5%  
Incremental signal   1 Vss  
Signal form   sinusförmig  
Resolution   2048  
Absolute position value/revolution   8192 (13 bit)  
Revolutions   -  
System accuracy   ±20 “  

Compatibility

Harmonic Drive AG Siemens Bosch Rexroth Beckhoff B&R NUM LTi-Drives Elmo SEW-EURODRIVE Lenze Fanuc Metronix Parker KOLLMORGEN Mitsubishi
Please select your manufacturer Type
Product YukonDrive®
CHA
DC bus voltage
24 VDC
320 VDC
560 VDC
Temperature sensor
PTC
KTY 84-130
Motor feedback
Resolver 2-pole
Inkrement. SIN/COS