At a glance

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
L
N
 
 
Motor feedback C1024
D2048
M128S
M512P
RES
 
 
Brake B
 
 
Option Sensor EC
 
 
Option Cable/Connector K
R (only in connection with M512P)
S (only in connection with M512P)
 
 

Available

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Not available

Technical data

Ordering code

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in consideration with your requested product characteristics.

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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
Brake holding torque TBr [Nm] 9 18 23 28
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
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
Brake holding torque TBr [Nm] 15 25 40 50 54
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
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
Brake holding torque TBr [Nm] 27 45 72 82 87 92
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
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
Brake holding torque TBr [Nm] 54 90 137 157 167 176
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
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
Brake holding torque TBr [Nm] 54 90 144 180 216 288
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
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
Brake holding torque TBr [Nm] 225 360 450 540 647
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
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
Brake holding torque TBr [Nm] 225 360 450 540 720
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
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
Brake holding torque TBr [Nm] 450 720 900 1080 1440
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

Ratio i [] 30 50 80 100
Moment of inertia with brake Jout [kgm2] 0,028 0,078 0,201 0,314
Moment of inertia without brake Jout [kgm2] 0,020 0,056 0,142 0,223
Ratio i [] 30 50 80 100
Moment of inertia with brake Jout [kgm2] 0,060 0,168 0,429 0,671
Moment of inertia without brake Jout [kgm2] 0,052 0,145 0,371 0,580
Ratio i [] 30 50 80 100
Moment of inertia with brake Jout [kgm2] 0,039 0,109 0,280 0,438
Moment of inertia without brake Jout [kgm2] 0,031 0,087 0,222 0,347

Ratio i [] 30 50 80 100 120
Moment of inertia with brake Jout [kgm2] 0,060 0,160 0,400 0,630 0,900
Moment of inertia without brake Jout [kgm2] 0,047 0,131 0,355 0,523 0,753
Ratio i [] 30 50 80 100 100
Moment of inertia with brake Jout [kgm2] 0,088 0,243 0,623 0,973 1,401
Moment of inertia without brake Jout [kgm2] 0,078 0,218 0,557 0,871 1,254
Ratio i [] 30 50 80 100 120
Moment of inertia with brake Jout [kgm2] 0,104 0,289 0,741 1,158 1,667
Moment of inertia without brake Jout [kgm2] 0,095 0,264 0,676 1,056 1,520

Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,13 0,35 0,89 1,39 2,00 3,5
Moment of inertia without brake Jout [kgm2] 0,1 0,28 0,72 1,12 1,61 2,86
Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,23 0,65 1,65 2,6 3,7 6,6
Moment of inertia without brake Jout [kgm2] 0,21 0,58 1,48 2,32 3,3 5,9

Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,35 0,97 2,5 3,9 5,6 9,9
Moment of inertia without brake Jout [kgm2] 0,29 0,8 2,0 3,2 4,6 8,1
Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,46 1,27 3,2 5,1 7,3 13
Moment of inertia without brake Jout [kgm2] 0,39 0,97 2,8 4,4 6,3 11,2

Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,53 1,47 3,8 5,9 8,5 15,0
Moment of inertia without brake Jout [kgm2] 0,44 1,22 3,1 4,9 7,1 12,5
Ratio i [] 30 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 0,64 1,77 4,5 7,1 10,2 18,2
Moment of inertia without brake Jout [kgm2] 0,55 1,5 3,9 6,1 8,7 15,6

Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 3,6 9,1 14,2 20,4 36,3
Moment of inertia without brake Jout [kgm2] 3,1 7,9 12,3 17,7 31,4
Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 3,9 9,8 15,4 22,2 39,4
Moment of inertia without brake Jout [kgm2] 3,4 8,6 13,5 19,4 34,6

Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 7,30 18,7 29,2 42,0 74,7
Moment of inertia without brake Jout [kgm2] 6,62 16,9 26,5 38,1 67,8
Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 7,6 19,5 30,4 43,8 77,8
Moment of inertia without brake Jout [kgm2] 6,9 17,7 27,7 39,9 71,0

Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 11,8 30,3 47,3 68,1 121
Moment of inertia without brake Jout [kgm2] 11,6 29,8 46,6 67,1 119
Ratio i [] 50 80 100 120 160
Moment of inertia with brake Jout [kgm2] 12,1 31,1 48,5 69,8 124
Moment of inertia without brake Jout [kgm2] 11,9 30,6 47,8 68,8 122
Length (without brake) L [mm] 97,5
Length (with brake) L1 [mm] 120,6
Weight without brake m [kg] 2,0
Weight with brake m [kg] 2,1
Length (without brake) L [mm] 97,5
Length (with brake) L1 [mm] 120,6
Weight without brake m [kg] 2,0
Weight with brake m [kg] 2,1
Length (without brake) L [mm] 97,5
Length (with brake) L1 [mm] 120,6
Weight without brake m [kg] 2,0
Weight with brake m [kg] 2,1
Length (without brake) L [mm] 101
Length (with brake) L1 [mm] 123
Weight without brake m [kg] 3,0
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 101
Length (with brake) L1 [mm] 123
Weight without brake m [kg] 3,0
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 101
Length (with brake) L1 [mm] 123
Weight without brake m [kg] 3,0
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 118
Length (with brake) L1 [mm] 138
Weight without brake m [kg] 3,2
Weight with brake m [kg] 3,9
Length (without brake) L [mm] 118
Length (with brake) L1 [mm] 137
Weight without brake m [kg] 4,2
Weight with brake m [kg] 4,9
Length (without brake) L [mm] 132,5
Length (with brake) L1 [mm] 160
Weight without brake m [kg] 4,9
Weight with brake m [kg] 6,1
Length (without brake) L [mm] 132
Length (with brake) L1 [mm] 159,5
Weight without brake m [kg] 5,9
Weight with brake m [kg] 7,1
Length (without brake) L [mm] 145
Length (with brake) L1 [mm] 172,5
Weight without brake m [kg] 6,6
Weight with brake m [kg] 7,8
Length (without brake) L [mm] 144,5
Length (with brake) L1 [mm] 172
Weight without brake m [kg] 7,6
Weight with brake m [kg] 8,8
Length (without brake) L [mm] 158
Length (with brake) L1 [mm] 177
Weight without brake m [kg] 11,7
Weight with brake m [kg] 13,8
Length (without brake) L [mm] 157
Length (with brake) L1 [mm] 176
Weight without brake m [kg] 12,7
Weight with brake m [kg] 14,8
Length (without brake) L [mm] 189
Length (with brake) L1 [mm] 208
Weight without brake m [kg] 19,9
Weight with brake m [kg] 23,5
Length (without brake) L [mm] 188,5
Length (with brake) L1 [mm] 207,5
Weight without brake m [kg] 20,9
Weight with brake m [kg] 24,5
Length (without brake) L [mm] 205
Length (with brake) L1 [mm] 226
Weight without brake m [kg] 27,2
Weight with brake m [kg] 31
Length (without brake) L [mm] 204,4
Length (with brake) L1 [mm] 225,4
Weight without brake m [kg] 28,2
Weight with brake m [kg] 32,0

Motor feedback

Encoder
Type Incremental Incremental Multi-turn absolute Multi-turn absolute
Ordering code C1024 D2048 M128S M512P
Manufacturers designation CCK - - EQN 1125
Protocol - - SSI (binär) EnDat® 2.2/01
Power supply 5 VDC ±10% 5 VDC ±10% 5 - 30 VDC 3,6 - 14 VDC
Incremental signal 1 Vss EIA 422 1 Vss 1 Vss
Signal form sinusoidal square wave sinusoidal sinusoidal
Resolution 1024 2048 128 512
Commutation signal 1 x C+D 1 Vss 5 x U, V, W - -
Reference signal 1 x R 1 x Z - -
Absolute position revolution - - 131072 (17 bit) 8192 (13 bit)
Revolutions - - 4096 (12 bit) 4096 (12 bit)
Buffer battery interne Batterie vorhanden
Resolver
Type RES
Manufacturers designation -
Power supply 7 VAC
Input frequency 5 ... 10 kHz
Incremental signal -
Transformation ratio 0,5 +- 10%

Compatibility

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Product Harmonic Drive AG-YukonDrive® Siemens-SINAMICS S120 Bosch-Rexroth IndraDrive Beckhoff-AX 5000 B&R-ACOPOS NUM-MDLUX LTi Drives-ServoOne Elmo-Gold series SEW EURODRIVE-MOVIDRIV · 10 Lenze-9400 Metronix-ARS 2000 Parker-COMPAX KOLLMORGEN-AKD Harmonic Drive AG-HA-680 Fanuc-SVx Mitsubishi-MDS
CHA
Controller Compatbility
DC Bus Voltage
18 VDC
24 ... 48 VDC
24 VDC
320 VDC
36 VDC
42 VDC
48 VDC
560 VDC
Motor Feedback
EnDat® + SIN/COS
EnDat® 2.1/01 SI · 10
EnDat® 2.2/22 MZ · 10
EnDat® 2.2/22 SZ · 10
HIPERFACE®
Inkrement. SIN/COS
Inkrement. TTL
Inkremental TTL DCO
Resolver 2-pole ROO
Resolver 2-polig
SSI + SIN/COS MGS
Temperature Sensor
KTY 84-130
PTC

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