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Leaderdrive

Leaderdrive KAH Motor

$2,900.00
Version
Model No
Reduction ratio

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Product Information

Application Scenarios

Humanoid Robots
Robotic Arms
Exoskeletons
Quadruped Robots
AGV Vehicles
ARU Robots

Technical Specifications

KAH14 and KAH17 Series Parameter Table
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)


KAH20 and KAH25 Series Parameter Table
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)
KAH32 and KAH40 Series Parameter Table
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-3D-Model.zip