Applications:
KAH hollow rotary actuators are widely used in: electronic and semiconductor equipment, precision CNC machine tools, 3C equipment, precision laser processing equipment, LED equipment, testing equipment, medical equipment, robots and special robotic arms, printing machinery, inkjet equipment, glass processing equipment, precision measuring instruments, etc. field.
Product details:
High accuracy: The absolute positioning accuracy up to 10 arc seconds (0.0028 degrees).
Large torque: Small size, large torque; output torque up to 800 Nm.
Hollow Hole: Large-aperture internal threading hole for easy passage of cables, gas camps, laser beams, etc.
Long life: The accuracy remains unchanged after use for more than 20,000 hours.
Zero backlash: Harmonic drive with zero backlash.
Integration: Integrated strain wave gear harmonic reducer, torque motor, electromagnetic brake, encoder, and driver.
Fast response: Excellent dynamic response performance; ideal for laser processing, and automation equipment.
Low vibration: Extremely low vibration and noise; the best choice for applications such as semiconductors and medical imaging equipment.
High protection standards: Up to IP67 protection level.
Maintenance-free: No need for regular maintenance; no need to change grease, etc.
If you want to know more about our products, you can download our Product Introduction Manual and 3D Model here.
The specifications of KAH-14 and KAH-17 series rotary actuators
| Series | KAH-14 | KAH-17 |
|---|
| Mode: KAH- | 14A | 14B | 14C | 17A | 17B | 17C | 17D |
| Reduction ratio | 1:51 | 1:81 | 1:101 | 1:51 | 1:81 | 1:101 | 1:121 |
| Maximum torque at start and stop | N·m | 23 | 29 | 34 | 42 | 53 | 66 | 66 |
| Maximum average torque | N·m | 8.6 | 13.5 | 13.5 | 32 | 33 | 49 | 49 |
| 220VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 127.5
70.6
1.96
0.56
15.36 | 80.2
44.4
1.56
0.56
24.10 | 64.4
35.6
1.41
0.44
30.68 | 119.6
60.8
3.35
1.65
19.39 | 75.3
38.3
2.10
1.04
31.73 | 60.4
30.7
2.51
1.24
39.51 | 50.4
25.6
2.09
1.04
47.11 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 4.311
5.256
23.85 | 2.135
3.869
30.66 |
| 110VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 40.8
70.6
4.06
1.17
7.36 | 64.8
44.4
3.23
1.16
11.68 | 80.8
35.6
3.03
0.93
14.57 | 100.0
60.8
6.78
3.35
9.56 | 63.0
38.3
8.26
4.18
7.85 | 50.5
30.7
7.08
3.53
13.87 | 42.1
25.6
6.26
2.95
16.58 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 2.089
2.593
11.07 | 1.036
1.684
14.79 |
| DC bus voltage 48VDC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 88.2
70.6
7.59
2.84
3.03 | 55.6
44.4
7.67
3.57
3.78 | 44.6
35.6
5.66
2.25
6.01 | 78.4
60.8
16.50
8.47
3.74 | 49.4
38.3
11.23
5.34
6.12 | 39.6
30.7
13.20
6.53
7.50 | 33.1
25.6
10.98
5.46
8.98 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 0.275
0.352
6.32 | 0.262
0.313
7.98 |
| Absolute Encoder | Encoder type
Resolution (single motor revolution)
Motor Multi-turn counter | Multi-turn hollow shaft absolute encoder
219 (524,288), 222 (4,194,304) or 224 (16,777,216)
216 (65,536) |
| Incremental encoder | Resolution | Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4) |
| Output shaft resolution | pulse/rev | 2040000 | 3240000 | 4040000 | 2040000 | 3240000 | 4040000 | 4840000 |
| Uni-directional positional accuracy | Arc sec | 40 | 30 | 30 | 40 | 30 | 30 | 30 |
| Repeatability of positioning accuracy | Arc sec | 8 | 7 | 7 | 8 | 7 | 7 | 7 |
| Overturning stiffness | x104 N·m /rad | 7.05 | 9.8 | 22.08 | 25.8 |
| Torsional stiffness | x104 N·m /rad | 0.46 | 0.6 | 1.07 | 1.3 |
| Inertia moment | Without brake
With brake | kg m2
kg m2 | 0.09
0.11 | 0.19
0.22 | 0.28
0.31 | 0.15
0.17 | 0.41
0.45 | 0.51
0.56 | 1.16
1.28 |
| Mass | Without brake
With brake | kg
kg | 1.3
1.5 | 1.8
2.0 |
| Number of motor poles | 16 |
| Motor insulation | Heat-resistant class: F(155℃)
Insulation resistance: more than 200MΩ(DC500V)
Dielectric strength: AC1500V (1 minute) |
| Protection structure (Degrees of Protection) | Totally enclosed self-cooled type (default: IP65, special customized: IP67) |
The specifications of KAH-20 and KAH-25 series rotary actuators
| Series | KAH-20 | KAH-25 |
|---|
| Mode: KAH- | 20A | 20B | 20C | 20D | 20E | 25A | 25B | 25C | 25D | 25E |
| Reduction ratio | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 |
| Maximum torque at start and stop | N·m | 69 | 91 | 102 | 108 | 113 | 121 | 169 | 194 | 207 | 217 |
| Maximum average torque | N·m | 42 | 58 | 61 | 61 | 61 | 68.5 | 107 | 133 | 133 | 133 |
| 220VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 119.6
60.8
4.53
2.12
19.81 | 75.3
38.3
3.89
1.85
31.35 | 60.4
30.7
3.41
1.56
39.10 | 50.4
25.6
2.78
1.30
46.92 | 37.9
19.3
2.21
0.98
62.24 | 102.0
58.8
8.05
3.38
20.28 | 64.2
37.0
7.08
3.32
32.21 | 51.5
29.7
6.52
3.31
40.16 | 43.0
24.8
5.81
2.76
48.11 | 32.3
18.6
4.58
2.08
64.02 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 2.135
3.869
30.66 | 1.779
3.375
40.84 |
| 110VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 100.0
60.8
9.49
4.28
9.82 | 63.0
38.3
7.87
3.72
15.61 | 50.5
30.7
7.08
3.14
19.45 | 42.1
25.6
6.25
2.62
23.32 | 31.7
19.3
4.91
1.97
31.04 | 80.4
54.9
13.57
5.69
12.04 | 50.6
34.6
11.93
5.60
19.12 | 40.6
27.7
10.99
5.58
23.84 | 33.9
23.1
9.78
4.66
28.56 | 25.5
17.4
7.71
3.52
38.00 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 1.036
1.684
14.79 | 0.809
1.534
18.56 |
| DC bus voltage 48VDC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 78.4
60.8
17.89
10.88
3.86 | 49.4
38.3
18.86
12.03
4.82 | 39.6
30.7
13.33
7.97
7.65 | 33.1
25.6
11.79
6.66
9.16 | 24.8
19.3
9.27
5.03
12.19 | 60.8
51.0
28.61
16.19
4.23 | 38.3
32.1
32.01
20.27
5.28 | 30.7
25.7
23.15
15.87
8.38 | 25.6
21.5
20.62
13.25
10.04 | 19.3
16.2
16.24
9.96
13.36 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 0.262
0. 313
7.98 | 0.239
0.282
10.57 |
| Absolute Encoder | Encoder type
Resolution (single motor revolution)
Motor Multi-turn counter | Multi-turn hollow shaft absolute encoder
219 (524,288), 222 (4,194,304) or 224 (16,777,216)
216 (65,536) |
| Incremental encoder | Resolution | Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4) |
| Output shaft resolution | pulse/rev | 2040000 | 3240000 | 4040000 | 4840000 | 6440000 | 2040000 | 3240000 | 4040000 | 4840000 | 6440000 |
| Uni-directional positional accuracy | Arc sec | 40 | 30 | 30 | 30 | 30 | 40 | 30 | 30 | 30 | 30 |
| Repeatability of positioning accuracy | Arc sec | 8 | 7 | 7 | 7 | 7 | 8 | 7 | 7 | 7 | 7 |
| Overturning stiffness | x104 N·m /rad | 23.5 | 27.3 | 34.7 | 42.8 |
| Torsional stiffness | x104 N·m /rad | 1.8 | 2.3 | 3.4 | 4.6 |
| Inertia moment | Without brake
With brake | kg m2
kg m2 | 0.19
0.22 | 0.57
0.63 | 0.86
0.95 | 1.23
1.35 | 2.18
2.35 | 0.49
0.58 | 1.24
1.51 | 1.93
2.31 | 2.85
3.31 | 5.01
5.97 |
| Mass | Without brake
With brake | kg
kg | 2.2
2.5 | 3.2
3.6 |
| Number of motor poles | 16 |
| Motor insulation | Heat-resistant class: F(155℃)
Insulation resistance: more than 200MΩ(DC500V)
Dielectric strength: AC1500V (1 minute) |
| Protection structure (Degrees of Protection) | Totally enclosed self-cooled type (default: IP65, special customized: IP67) |
The specifications of KAH-32 and KAH-40 series rotary actuators
| Series | KAH-32 | KAH-40 |
|---|
| Mode: KAH- | 32A | 32B | 32C | 32D | 32E | 40A | 40B | 40C | 40D | 40E |
| Reduction ratio | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 | 1:51 | 1:81 | 1:101 | 1:121 | 1:161 |
| Maximum torque at start and stop | N·m | 267 | 376 | 411 | 436 | 459 | 497 | 641 | 702 | 762 | 800 |
| Maximum average torque | N·m | 133 | 206 | 267 | 267 | 267 | 242 | 351 | 460 | 557 | 557 |
| 220VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 88.2
51.0
14.37
5.96
22.30 | 55.6
32.1
12.74
5.82
35.42 | 44.6
25.7
11.17
6.04
44.17 | 37.2
21.5
9.89
5.05
52.92 | 28.0
16.1
7.82
3.79
70.41 | 76.5
43.1
22.79
8.67
27.91 | 48.1
27.2
18.51
7.92
44.32 | 38.6
21.8
16.26
8.32
55.26 | 32.2
18.2
14.73
8.41
66.23 | 24.2
13.7
11.62
6.32
88.09 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 1.438
3.165
44.29 | 1.024
3.026
50.87 |
| 110VAC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 68.6
45.1
25.29
10.50
12.67 | 43.2
28.4
22.42
10.24
20.12 | 34.7
22.8
19.66
10.64
25.09 | 28.9
19.0
17.41
8.88
30.06 | 21.7
14.3
13.77
6.68
39.99 | 52.9
35.3
35.85
14.55
16.63 | 33.3
22.2
29.12
13.29
26.41 | 26.7
17.8
25.58
13.97
32.93 | 22.3
14.9
23.17
14.11
39.47 | 16.8
11.2
18.29
10.61
52.50 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 0.730
1.408
22.51 | 0.530
1.207
44.96 |
| DC bus voltage 48VDC | Maximum speed
Rated speed
Maximum current
Rated current
Torque constant | RPM
RPM
Arms
Arms
N m/Arms | 51.00
41.20
51.25
25.53
5.21 | 32.10
25.90
57.94
31.74
6.49 | 25.70
20.80
39.83
25.87
10.32 | 21.50
17.40
35.33
21.64
12.34 | 16.10
13.00
27.95
16.26
16.42 | 35.30
29.40
72.66
35.38
6.84 | 22.20
18.50
75.06
41.10
8.54 | 17.80
14.90
51.81
33.95
13.55 | 14.90
12.40
46.98
34.34
16.22 | 11.20
9.30
37.05
25.80
21.59 |
Phase resistance
Phase inductance
Back EMF | Ohms
mH
Vrms/kRPM | 0.188
0. 265
12.05 | 0.139
0.207
17.48 |
| Absolute Encoder | Encoder type
Resolution (single motor revolution)
Motor Multi-turn counter | Multi-turn hollow shaft absolute encoder
219 (524,288), 222 (4,194,304) or 224 (16,777,216)
216 (65,536) |
| Incremental encoder | Resolution | Hollow shaft incremental encoder, 40000 pulse/rev (multiplied by 4) |
| Output shaft resolution | pulse/rev | 2040000 | 3240000 | 4040000 | 4840000 | 6440000 | 2040000 | 3240000 | 4040000 | 4840000 | 6440000 |
| Uni-directional positional accuracy | Arc sec | 40 | 30 | 30 | 30 | 30 | 40 | 30 | 30 | 30 | 30 |
| Repeatability of positioning accuracy | Arc sec | 8 | 7 | 7 | 7 | 7 | 8 | 7 | 7 | 7 | 7 |
| Overturning stiffness | x104 N·m /rad | 87.5 | 113.6 | 149.5 | 187.4 |
| Torsional stiffness | x104 N·m /rad | 7.6 | 9.9 | 14 | 18.6 |
| Inertia moment | Without brake
With brake | kg m2
kg m2 | 1.72
2.03 | 4.34
5.29 | 6.76
8.09 | 9.98
11.59 | 17.54
20.90 | 3.91
4.62 | 9.86
12.03 | 15.36
18.39 | 22.68
26.35 | 39.86
47.50 |
| Mass | Without brake
With brake | kg
kg | 6.2
6.7 | 9.1
9.7 |
| Number of motor poles | 16 |
| Motor insulation | Heat-resistant class: F(155℃)
Insulation resistance: more than 200MΩ(DC500V)
Dielectric strength: AC1500V (1 minute) |
| Protection structure (Degrees of Protection) | Totally enclosed self-cooled type (default: IP65, special customized: IP67) |
| KAH Rotary Actuators Product Bending Moment, Radial Force and Axial Force Parameter Values |
| Model KAH- | 14 | 17 | 20 | 25 | 32 | 40 |
| Allowable Value of Bending Moment Mb | 41 | 72 | 140 | 243 | 460 | 600 |
| Bending Moment Momentary Allowable Value Mb | 80 | 140 | 280 | 480 | 900 | 1200 |
| Allowable Value of Radial Force Ft | 270 | 400 | 650 | 900 | 1350 | 2000 |
| Radial Force Momentary Allowable Value Ft | 490 | 700 | 1150 | 1600 | 2300 | 3500 |
| Allowable Value of Axial Force Fa | 270 | 400 | 650 | 900 | 1350 | 2000 |
| Momentary Allowable Value of Axial Force Fa | 490 | 700 | 1150 | 1600 | 2300 | 3500 |
KAH Rotary Actuators Product Accuracy Retention Life |
Model KAH- | 14 | 17 | 20 | 25 | 32 | 40 |
Accuracy Retention Life (Reduction Ratio 1/51) | 15000 hours |
Accuracy Retention Life (Other Reduction Ratio) | 20000 hours |
Note: The parameter value in the table refers to the life under the condition that the positioning accuracy and other parameters are kept unchanged. If the user allows other parameters to be slightly reduced, the use can be extended.
