---
title: "Harmonic Drive CHA series specs"
description: "Harmonic Drive CHA hollow-shaft servo actuator family. Torque, mass and price are unspecified in this catalog; confirm model-specific data."
canonical: https://actuatorlist.com/actuators/harmonic-drive-cha-series
last-updated: 2026-11-01T14:05:43.000Z
---
# CHA series (Hollow Shaft Servo Actuator) by Harmonic Drive (Harmonic Drive SE / LLC)

> Harmonic / Precision actuator from Harmonic Drive (Harmonic Drive SE / LLC) (Japan). Peak torque n/a, rated n/a, weight n/a, torque density n/a, price quote only.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Harmonic / Precision |
| Peak torque | n/a |
| Rated torque | n/a |
| Max speed | n/a |
| Gear ratio | 30:1-160:1 |
| Weight | n/a |
| Torque density | n/a |
| Price | quote only |
| Price per Nm | n/a |
| Backdrivable | no |
| Backlash | 0 arcmin |
| Voltage | n/a |
| Peak current | n/a |
| Communication | EtherCAT, CAN |
| Control modes | position, velocity, torque |
| Encoder | absolute feedback |
| Integrated driver | no |
| Availability | in production |
| Data status | Unverified catalog: confirm sources |

## Use cases

- robot arm
- industrial robot joint
- heavy positioning

## Notes

CHA hollow-shaft servo actuator: synchronous servomotor plus CPU-H series zero-backlash strain-wave gear plus a high-capacity precision output bearing. Available in eight sizes, gear ratios 30:1 to 160:1, with maximum torque from about 9 N·m up to 1,840 N·m across the size range (per Harmonic Drive SE product page). Requires a matching external servo drive (CANopen/EtherCAT drives offered). This is a multi-size series, so per-size rated/peak torque, weight, speed and repeatability are left null rather than guessed. Backlash recorded as 0 per the strain-wave zero-backlash claim. Quote-only pricing.

## Sources

- [https://harmonicdrive.de/en/products/servo-actuators-with-hollow-shaft/cha](https://harmonicdrive.de/en/products/servo-actuators-with-hollow-shaft/cha)
- [https://harmonicdrive.de/fileadmin/user\_upload/ED\_CHA\_E\_1018854\_8.2018\_V03.pdf](https://harmonicdrive.de/fileadmin/user_upload/ED_CHA_E_1018854_8.2018_V03.pdf)
- [https://harmonicdrive.de/fileadmin/user\_upload/ED\_CHA\_C\_E\_1019461\_02\_2017\_V04\_5.pdf](https://harmonicdrive.de/fileadmin/user_upload/ED_CHA_C_E_1019461_02_2017_V04_5.pdf)

## Similar Harmonic / Precision actuators

- [EC-A5013-H17-100 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a5013-h17-100): 142.9 Nm/kg
- [EC-A3814-H14-107 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a3814-h14-107): 138.2 Nm/kg
- [LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-lpa-20): 40.7 Nm/kg
- [FHA-14C-100 (FHA-C Mini) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-fha-14c-100): 17 Nm/kg
- [SHA-CG series (SHA-CG Hollow Shaft Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-sha-cg): n/a

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/harmonic-drive-cha-series
- Catalog index for agents: https://actuatorlist.com/llms.txt