Rotary Actuators
KAH Hollow Shaft Rotary Actuator
Ref: KAH
The KAH Hollow Shaft Rotary Actuator uses a magnetic stepper motor to provide high-torque, high-precision rotation functions for automated processes. They are widely used in various automation products involving high precision requirements and small size. They use an integrated design, advanced processing and assembly technology, and components including high-precision strain wave gear harmonic reducers, frameless torque motors, and hollow shaft high-resolution absolute encoders.
Leaderdrive is a leader in the development and manufacture of rotary actuators for highly precise motion and positioning applications. We have many years of experience, and we are happy to answer requests for detailed specifications and operation data.
The KAH Hollow Shaft Rotary Actuator uses a magnetic stepper motor to provide high-torque, high-precision rotation functions for automated processes. They are widely used in various automation products involving high precision requirements and small size. They use an integrated design, advanced processing and assembly technology, and components including high-precision strain wave gear harmonic reducers, frameless torque motors, and hollow shaft high-resolution absolute encoders.
Leaderdrive is a leader in the development and manufacture of rotary actuators for highly precise motion and positioning applications. We have many years of experience, and we are happy to answer requests for detailed specifications and operation data.
Product details
Parameters
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.
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