# NAxis HHD Actuators
# An all-in-one, high-performance robotic joint module featuring a BLDC Motor, Hat Type Strain Wave Gearbox, and integrated Motor Driver, specifically designed to handle high static and dynamic loads at the output through its integrated cross-roller bearings. Engineered 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-HHD-17-50** **NA-HHD-17-100** **NA-HHD-20-50** **NA-HHD-20-100** **NA-HHD-25-50** **NA-HHD-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** 90 45 90 45 85 42
**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** 1.3 1.6 2.6
**Output Load Specifications** 9.8kN Dynamic Load
13.5kN Static Load
[Cross-Roller Bearing] 		18.5kN Dynamic Load
25.6kN Static Load
[Cross-Roller Bearing] 		21.8kN Dynamic Load
35.8kN 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-HHD-17-XXX** **NA-HHD-20-XXX** **NA-HHD-25-XXX**
L 82.4 83 93.4
L1 15.8 16 19.5
L2 30.4 32.5 37.7
L3 43.7 47.5 53.7
D1 80 90 110
D2 63 73 88
D3 70 75 95
ID 11 9 19
OD 84 94 114
Hollow Shaft Dia 11 9 19
Rotor 16 x M3 (6 mm Depth)
(Post 14.4 mm Through Hole)
Tapped Holes PCD Ø 54 		12 x M3 (6 mm Depth)
(Post 15 mm Through Hole)
Tapped Holes PCD Ø 62 		12 x M4 (6 mm Depth)
(Post 17.2 mm Through Hole)
Tapped Holes PCD Ø 77
Stator Front 8 x M3 (6 mm Depth)
(Post 19mm Through Hole)
Tapped Holes PCD Ø 74 		8 x M3 (6 mm Depth)
(Post 20.5mm Through Hole)
Tapped Holes PCD Ø 84 		8 x M4 (8 mm Depth)
(Post 22mm Through Hole)
Tapped Holes PCD Ø 102
Stator Back 12 x M3 (6 mm Depth)
Tapped Holes PCD Ø 74 		12 x M3 (6 mm Depth)
Tapped Holes PCD Ø 84 		12 x M4 (8 mm Depth)
Tapped Holes PCD Ø 102
## 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.