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1 CHA FHA-C FHA-C Mini LynDrive FPA RSF Mini PMA CHM TorkDrive YukonDrive HA-6 Optimised for your applications: Largest hollow shaft with precision output bearing CHA Series 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 and :1, the actuators can provide maimum torques from 8 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. 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 Fleible control configuration Easy load connection Low manufacturing and installation costs Customer Benefits Harmonic Drive Servo Actuators are the perfect combination of highly dynamic compact servo motors, precision Harmonic Drive Component Sets and integral high load capacity, tilt resistant output bearings. 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 aes, enabling space saving designs with minimal installation dimensions required. With a reinforced output bearing offering maimum 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 fleible configuration of the actuator ensures compatibility with almost any servo controller on the market. Ecellent 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 Features QUICKLINK CHA 22

2 Combinations Table 24.1 Table 25.1 Series Size Version Ratio winding and connector configuration feedback Brake Option 1 Option 2 Special design Size 14A 17A 20A 25A 32A 40A A 58A CHA Table 24.2 Table 24.4 Size Version 14A 17A 14A 17A 20A 25A 32A 40A A 58A 14A 17A 20A 25A 32A 40A A 58A winding and connector configuration E 1) Maimum DC bus voltage 48 VDC H, L, N 6 VDC E 1) H L N Table 24.3 Table 24.5 Table 24.6 EC K R S C1024 S1024 M1024 M512P RES D2048 M128S B Option 1 Description Single turn absolute EnDat Encoder system at the gear output Option 2 Sensor Cable/ Connector Description Cable outlet aial Connector aial (only M512P) Connector radial (only M512P) - Standard (cable outlet radial) According to customer requirements CHA - 20A - - H - C B - EC - K - SP Variations in bold print are available at short notice, subject to prior sale. 1) Preparation 1) Preparation Protocol C1024 S1024 Single turn absolute HIPERFACE M1024 Multi-turn absolute M512P EnDat RES D2048 M128S Multi-turn absolute SSI Ordering code feedback Connector configuration feedback Cable outlet Connector H C1024 H M512P 6 pin 17 pin (M23) H M128S (M23) H RES 12 pin (M23) H S1024 Without Without H M1024 L S pin 17 pin (M23) L M1024 (M23) N M128S 8 pin N RES 17 pin (M17) (M17) N D2048 E RES 8 pin E D pin (M17) (M17) E M128S Ratio E winding and connector configuration H L - - N C S M M512P - - RES D M128S Brake B Option 1 (Sensor) EC - - K 1) 1) Option 2 (Cable/Connector) R - - S - - Only in conjunction with M512P available on request not available 1) Only for resolver and with increased length Gear Component Set Zero backlash Hollow shaft Transmission accuracy better than 1 arcmin Repeatability better than ±6 arcsec High load capacity Tilt resistant Ecellent running characteristics encoder Single- or multi-turn absolute encoder EnDat multi-turn encoder AC Hollow shaft motor Sine commutated hollow shaft AC motor Multiple motor winding options Winding temperature monitoring with temperature sensor Maintenance free 24 Clarification of the technical data can be found in the Glossary 25

3 Table 26.1 Illustration 27.1 CHA-14A Illustration 27.2 CHA-17A Unit CHA-14A CHA-17A RES / D2048 / M128S RES / D2048 / M128S Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia with resolver RES without Brake [kgm²] Moment of inertia with resolver RES and brake [kgm²] D2048 without brake [kgm²] D2048 and brake [kgm²] M128S without brake [kgm²] M128S and brake [kgm²] [Nm] Weight without brake m [kg] ca. 2.0 ca. 3.0 Weight with brake m [kg] ca. 2.1 ca Transmission accuracy [arcmin] < 2 < 1.5 < 1.5 < 2 < 1.5 < 1.5 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 26.2 Table 27.3 Unit CHA-14A CHA-17A RES / D2048 / M128S RES / D2048 / M128S Length (without brake) L Length (with brake) L Illustration 27.4 CHA-20A Illustration 27.5 CHA-25A Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] ,6 8.1 Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 1.5 < 1 < 0.8 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 27.6 Length (without brake) L Length (with brake) L Clarification of the technical data can be found in the Glossary 27

4 Table 28.1 Illustration 29.1 CHA-32A Illustration 29.2 CHA-40A Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.7 < 0.5 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 29.3 Length (without brake) L Length (with brake) L Table 28.2 Illustration 29.4 CHA-A Illustration 29.5 CHA-58A Unit CHA-A CHA-58A Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.7 < 0.5 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 29.6 Unit CHA-A CHA-58A Length (without brake) L Length (with brake) L Clarification of the technical data can be found in the Glossary 29

5 Table.1 Illustration 31.1 CHA-20A-M512P Illustration 31.2 CHA-25A-M512P Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 1.5 < 1 < 0.8 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 31.3 Length (without brake) L Length (with brake) L Table.2 Illustration 31.4 CHA-32A-M512P Illustration 31.5 CHA-40A-M512P Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.7 < 0.5 [10 3 Nm/rad] Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Table 31.6 Length (without brake) L Length (with brake) L Clarification of the technical data can be found in the Glossary 31

6 Table 32.1 CHA-A-M512P Illustration 33.1 Illustration 33.2 CHA-58A-M512P Unit CHA-A CHA-58A Ratio i [ ] Maimum output torque T ma [Nm] Maimum output speed n ma [rpm] [Nm] Moment of inertia without brake [kgm²] Moment of inertia with brake [kgm²] [Nm] Weight without brake m [kg] Weight with brake m [kg] Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.7 < 0.5 [10 3 Nm/rad] Table 33.3 Unit CHA-A CHA-58A Dynamic radial load F R dyn (ma) [N] Dynamic aial load F A dyn (ma) [N] Dynamic tilting moment M dyn (ma) [Nm] Length (without brake) L Length (with brake) L Clarification of the technical data can be found in the Glossary 33

7 Encoder Compatibility Table 34.1 Table 35.1 Single turn absolute Multi-turn absolute Product DC bus voltage Temperature sensor D2048 C1024 S1024 M1024 M512P M128S Manufacturers designation - CCK SCK SCL EQN Protocol - - HIPERFACE HIPERFACE EnDat SSI (binary) BiSS (optional) Power supply 5 VDC ±5% 5 VDC ±10% 7-12 VDC 7-12 VDC VDC 5 - VDC signal EIA 422 Signal form Square wave sinusoidal sinusoidal sinusoidal Resolution Commutation signals 5 U, V, W 1 C+D Reference signal 1 Z 1 R Absolute position value/revolution (15 bit) (15 bit) 8192 (13 bit) (17 bit) Revolutions (12 bit) 4096 (12 bit) 4096 (12 bit) Battery back up Manufacturer CHA 24 VDC Harmonic Drive AG YukonDrive Siemens Bosch Reroth Beckhoff SINAMICS S SIMODRIVE 611 IndraDrive C IndraDrive Cs AX 00 AX VDC 560 VDC PTC KTY pole SIN/COS B&R ACOPOS HIPERFACE EnDat + SIN/COS TTL Table 34.2 NUM NUMDrive LTi Drives ServoOne Elmo DRUM RES Power supply 7 VAC Input frequency 5 10 khz Current dissipation < ma Number of pole pairs 1 Transformation ratio 0.5 ±10% SEW-EURODRIVE MOVIDRIVE B MOVIAXIS Lenze Global Drive Fanuc SV Metroni ARS 2000 Position measuring system Parker COMPAX Table 34.3 KOLLMORGEN AKD S700 Single turn absolute Mitsubishi MDS EC in service compatible according to datasheet Manufacturers designation ECN 113 Compatibility with other manufacturers controllers are available upon request. Protocol EnDat Power supply 5 VDC ± 5 % signal Signal form sinusoidal Resolution 2048 Absolute position values / revolution 8192 (13 bit) Revolutions - System accuracy ± ESR Pollmeier GmbH