# NAxis CHD Actuators
# An all-in-one, ultra-lightweight robotic joint module featuring a BLDC motor, Cup Type Strain Wave Gearbox, and integrated Motor Driver, specifically engineered to minimize weight without compromising performance. Designed for seamless integration and ease of use, simply connect it to the [NLink Adapter](pathname:///nlink) via Controller Area Network (CAN) Bus connection and leverage our Software SDK to precisely control and command its movements according to your needs.
## Models and Specifications
**NA-CHD-17-50** **NA-CHD-17-100** **NA-CHD-20-50** **NA-CHD-20-100** **NA-CHD-25-50** **NA-CHD-25-100**
**Voltage / V** 48
**Gear Ratio** 50 100 50 100 50 100
**Rated Torque / Nm** 24 46 34 58 65 126
**Speed at Rated Torque / RPM** 60 30 60 30 60 30
**Peak Torque / Nm** 40 63 66 97 114 184
**Peak Speed / RPM** 60 30 60 30 60 30
**Rated Current / A** 6.5 6.2 8.0 6.7 12.8 12.4
**Peak Current / A** 10.8 8.5 15.3 11.3 22.4 18.1
**Weight / kg** 0.8 1.1 1.7
**Output Load Specifications** 1.7kN Dynamic Load
1.9kN Static Load
[Cross-Roller Bearing] 		2.2kN Dynamic Load
2.5kN Static Load
[Cross-Roller Bearing] 		2.2kN Dynamic Load
3.2kN Static Load
[Cross-Roller Bearing]
**Sensors** 2 x 16-bit Absolute Encoder on the output and motor side
1 x Motor Thermistor
**Communication** CAN 2.0B upto 1Mbps / CANFD upto 8Mbps
## Drawing

All dimensions are in mm
**NA-CHD-17-XXX** **NA-CHD-20-XXX** **NA-CHD-25-XXX**
L 95.6 96.9 104.8
L1 2 1.5 2
L2 5 4.5 5
D1 27 36 46
D2 47 55 68
ID 7 11 13
OD 65 73 90
Hollow Shaft Dia 6 10 12
Rotor 6 x M3 (7.5 mm Depth)
Tapped Holes PCD Ø 18 		8 x M4 (8 mm Depth)
Tapped Holes PCD Ø 27 		8 x M4 (8 mm Depth)
Tapped Holes PCD Ø 35
Stator 8 x M3 (6 mm Depth)
Tapped Holes PCD Ø 54 		8 x M3 (6 mm Depth)
Tapped Holes PCD Ø 62 		8 x M3 (6 mm Depth)
Tapped Holes PCD Ø 77
## Customisation and Actuator Development We can also provide Custom Actuators based on your requirements such as, - Load and Speed - Hollow Shaft - Dual Side Mounting - Additional Sensor Integration - Weight and Size Optimisation - Compatible Fixtures and Couplings These customisations can be done at a reasonable cost. Our team of experts will help you to achieve your objectives within the constraints of your application. Please [contact us](/support/contact-us) to initiate a consultation.