Data Pack G Issued March 1997 3-3939 Data Sheet s RS stock numbers 76-36 to 76-93 ctual torque ctuator 10mm bore ctual torque kgf-cm 1.5 1 0.5 Technical specification 10mm 0mm 30mm ctuator dia. dia. dia. Rotation 90 //70 Medium ir Proof pressure kgf/cm 10.5 10.5 15 Operating pressure range kgf/cm -7 1.5-7 1-99 90 5 Max. operating cycle (Hz) 3.5 3 3 70.5 Operating temperature 5-60 C ubrication Not required utoswitch specification Max. current Operating or operating RS stock no. Type voltage current range 76-59 10mm Vac, dc or less 50m 76-65 0 and 30mm Vdc 5-0m 0 1 3 5 6 7 Operating pressure kgf/cm ctuator 0mm bore ctual torque kgf-cm 10 6 0 1 3 5 6 7 Operating pressure kgf/cm ctuator 30mm bore Kinetic RS energy Volume eight ctivator stock no. kgf/cm cm 3 Port size (g) 10mm 90 76-36 0.0015 1.0 M3 6.3 10mm 76-370 0.0015 1. M3 6.0 10mm 70 76-36 0.0015 1.5 M3 5.7 0mm 90 76-39 0.00. M5 106 0mm 76-09 0.00 6.1 M5 105 0mm 70 76-15 0.00 7.9 M5 103 30mm 90 76-1 0.15 11.3 M5 03 30mm 76-37 0.15 15.0 M5 19 30mm 70 76-3 0.15 0. M5 193 ctual torque kgf-cm 0 30 0 10 0 1 3 5 6 7 9 10 Operating pressure kgf/cm
90 3-3939 Rotation time setting Even a small torque generated by the rotary actuator, due to inertia, can cause damage. Therefore, please control rotation time taking the moment of inertia of the load and kinetic energy into consideration. Further details are given at the end of this data sheet. Rotation speed range If a rotation speed is used slower than 0.3 sec/90 sticking may occur. Model Rotation time (sec/90 ) 10mm actuator 0.03~0.3 0mm actuator 0.03~0.3 30mm actuator 0.0~0.3 Mounting and travel index hen pressure is applied to the side, the shaft will rotate clockwise. hen applied to the side, the shaft will rotate counter-clockwise. Precautions 1. Use clean air.. ubrication is not required. 3. If the kinetic energy of the load exceeds the permissible range, use external stops to absorb load.. Connect the piping after thoroughly flushing it. 5. void using hydraulic fluid. 6. Shaft load: If a static (ie. non-dynamic) load only is applied to the actuator, it is possible to apply the load values shown in the table below. In order to obtain the proper operating conditions, it is recommended that the load need not be applied directly to the shaft. Fr Fs R Model Fr Fs 10mm actuator 1.5 1.0 0mm actuator.5.0 30mm actuator 3.0.5 Construction on 70 Recommended mounting methods The values given in the above are the maximum values when actuator is not operating (ie. static loading). If your application requires greater load bearing capacity please use other means of support (ie. thrust bearing). Thrust bearing Flexible coupling earing (90 ) ody to be used as a flange Position of flat olts 70 Position of flat (5 ) Model olts 10mm actuator 11.5 M.5 0mm actuator.5 M3 30mm actuator 3.5 M
Construction/Parts list Rotation 70 View from long shaft end 3-3939 Materials No. Description Material Note 1 ody () luminium alloy lack alumite ody () luminium alloy lack alumite 3 Vane shaft Stainless steel* NR (lining) Stopper Resin Rotation 90 and 70 5 Stopper Resin Rotation 90 and 6 earing Carbon steel 7 ack up ring Stainless steel Hexagon socket head cap screw Stainless steel Special bolts *Except 30mm Ø actuators which are carbon steel Dimensions ctuator 3-Q3 ØP ong shaft end 3-Q1 7 3 6 Internal rubber damper 10mm actuator is without damper 1 ØE Short shaft end K ØF G1 D Rotation View from long shaft end ody () ody () J G C M 5 -R ØE Rotation 90 View from long shaft ØF Ø 5 3-Q Note: Holes of Q1 and Q with mark are drilled through. 3
3-3939 ctuator alone Model C D E F G1 G J K 0.00 0 10mm 9 15 1 0.01 9 0.036 3 1 5 9 0.00 0 0mm 9 10 0 6 0.01 1 0.03.5 1.5 7 10 0.005 0 30mm 50 0 13 0.01 16 0.03 5 1 0 and 30mm actuator with autoswitch and case =0.5 (=.5 Connector type) 65 Depth Depth Depth Model M N P Q1 Q Q3 R90 R R70 10mm 0.5 5 5 M3 3. M5 M5 M3 0mm 0.5 9 5 36 M.5 M M5 M5 M5 30mm 10 10 5 3 M5 5.5 M5 M5 M5 M5 ØH ctuator with autoswitch and case E F Model C D (g6) (h9) G H K M 10mm 9 19 5 1 9 3 1.5 9 0.5 10 0mm 33.5 5.5 0 6 1.5 5 10 0.5 0 30mm 50 5.5 5.5 16 5 5 1 1 30 *ith each one switch with right hand and left hand mounting. Model N P Q R 90 70 10mm 5 M3 0.5 (Depth 5) M5 0. M3 0.5 0mm 5 36 M 0.7 (Depth 7) M5 0. 30mm 5 3 M5 0. (Depth 10) M5 0. K 5.5 (31.5 Connector type) M -R 10mm actuator with autoswitch and case =15 P 60 6-Q ØH M -R K D G C D C G ØE ØF Ø ØE ØF Ø P
3-3939 10mm actuators 16 1 10 5 17 3 15 7 19 No. Description Material Note 1 Cover Resin lack Cover Resin lack 3 Magnet lever Resin lack Fixed block luminium alloy lack 5 Fixed block luminium alloy 6 Fixed block luminium alloy lack 7 Switch block Resin lack Switch block Resin lack 9 Switch block Resin lack 10 Magnet Magnetic substance 11 rm Stainless steel 1 Screw Stainless steel 13 Plain washer Stainless steel 1 Spring Stainless steel 15 Screw Stainless steel 16 Screw Stainless steel 17 Screw Stainless steel 1 Screw Stainless steel 19 Screw Stainless steel 1 Range of rotation for output shaft with single spanner flat and position for auto switch 90 ctuator Switch for END 1 END 90 Part list 0-30mm actuators END 1 Switch for END 9 ctuator 16 6 1 13 1 11 17 15 1 19 10 3 END END 1 Switch for END 1 Switch for END 5
0 3-3939 70 ctuator Switch for END 1 Switch for END 70 a) There is a 55 span between the auto switch set screw and the position indicator. b) The auto switch will be activated once the rotating magnet approaches within 5 of the indicator arrow. c) The switch will become deactivated when the magnet has moved away from the switch and then entered the span of 5-5. 0mm and 30mm actuator END END 1 90 with two switches with right hand mounting a) In the diagram showing rotation range, the arrowed mark of a solid line shows the range in which output shaft with spanner flat rotates. hen single spanner flat indicates the way to END 1, switch for END 1 will operate. hen it indicates the way to END, switch for END will operate. b) The arrowed mark of the dotted line shows the range in which built-in magnet rotates, it is possible to make rotation of switch smaller by shifting switch for END 1 clockwise and switch for END, counterclockwise. Switch for END 1 END 90 END 1 Switch for END Note: In the 70 (degree) rotation case with two switches for right hand mounting END END 1 Switch for END 1 Switch for END Output shaft with spanner flat 70 with each switch with right hand and left hand mounting Switch for END 1 Switch for END 70 55 5 END END 1 70 6
5 3-3939 a) In the diagram showing rotation range, the arrowed mark of a solid line shows the range in which output shaft with spanner flat rotates. hen single spanner flat indicates the way to END 1, switch for END 1 will operate. hen it indicates the way to END, switch for END will operate. b) The arrowed mark of the dotted line shows the range in which built-in magnet rotates, it is possible to make rotation of switch smaller by shifting switch for END 1 clockwise and switch for END counterclockwise. Note: In the 70 (degree) rotation case How to set rotation time Even a small torque generated by the rotary actuator, due to inertia of the load, can cause damage to the shaft and internal parts. Therefore, please set rotation time taking the inertia of the load and kinetic energy into consideration. (The values of kinetic energy in Tables 1 and, and Figure 1 will be very helpful in setting the rotation time.) Table 1: llowable dynamic load Kinetic energy (kgf cm) Use of an No use of an internal rubber internal rubber Model damper damper 10mm actuator 0.0015 0.0015 0mm actuator 0.03 0.00 30mm actuator 0. 0.15 Note 1: For use with internal rubber damper, you should use an actuator for 90,, or 70 at respective end of rotation 90, or 70. Note : For use without internal rubber damper, you should use an actuator for 70 (Figure b) at 90 or by external stopper making use of a single shaft instead of using end of the rotation. Figure a (90 and ) 90 Position of flat (90 ) Output shaft with spanner flat Figure b (70 ) 70 0 0 Position of flat (5 ) 70 a) There is a 5 span between the auto switch set screw and the position indicator. b) The auto switch will be activated once the rotating magnet approaches within 0 of the indicator arrow. c) The switch will become deactivated when the magnet has moved away from the switch and entered the span of 0-0. Table : Stable rotation time regulation range Model Rotation timer (sec/90 ) 10mm actuator 0.03~0.3 0mm actuator 0.03~0.3 30mm actuator 0.0~0.3 How to calculate energy of the load: E = 1 J = t E: Kinetic energy (kgf/cm) J: Moment of inertia (kgf/cm/s ) : Rotation speed (rad/s) : Rotation (rad) = 3.1 rad t: Rotation time (s) If a rotation speed is used slower than 0.3sec/90, sticking may occur. 7
3-3939 Moment of inertia and rotation time Figure1a 10mm actuators Rotation time sec/90 0.3 0.3 0. 0.1 0. 0. 1. 1.6.0.. 3. x 10 5 Moment inertia kgf/cm/sec Figure1b 0mm actuators How to read diagram 1. Setting rotation time on load moment of inertia, 1. 10-5 kgf/cm/s For 10mm actuator (Figure 1a), with moment of inertia 1. 10-5 kgf/cm/s and rotation time 0.15/90 and stable rotation time regulation range 0.03~0.3/90 (max.) the rotation time will be 0.15~0.3 S /90.. Setting rotation time on load moment of inertia, 3. 10-5 kgf/cm/s For 10mm actuator (Figure 1a) the rotation time will be 0.3 S /90. If rotation time of over 0.03~0.3 S /90 (max.) needed it s possible to use within 0.03~0.3 S /90 by using an external stopper as shown in Figure below and stopping the rotation force of the load. *Please use a shock absorber at the end of the rotation for 70. Rotation time sec/90 0.3 0. 0.1 Figure (For 70 ) 1 3 5 6 7 x 10 Use 1 3 5 6 7 x 10 5 No use Moment inertia kgf/cm/sec Figure1c 30mm actuators 0.3 Rotation time sec/90 0. 0.1 0.6 1. 1.. 3.0 3.6.. x 10 3 Use 0. 0. 1. 1.6.0.. 3. x 10 5 Moment inertia kgf/cm/sec No use :No use of an internal rubber damper (no using at end of rotation) :Use of an internal rubber damper (using at end of rotation) (with autoswitch) Note: No internal damper used on 10mm actuator.
l 3-3939 How to calculate a moment of inertia Calculating a moment of inertia J: Moment of inertia (kgf/cm/s ) eight: eight of load (kgf) g: cceleration due to gravity (90cm/s 3 ) 1. Thin rod Position of pivot: Passes through one end perpendicular to the rod.. Thin rectangular plate (rectangular parallel piped) Position of pivot: Passes through one end perpendicular to the plate. l l 1 a a1 b J = 1 l 1 l g 3 g 3 J = 1 a 1 +b + a +b g 1 g 1. Thin rod Position of pivot: Passes through the centre of gravity perpendicular to the rod. 5. Thin rectangular plate (rectangular parallel piped) Position of pivot: Passes through the centre of gravity, perpendicular to the plate (inclusive of rectangular parallel piped) a b J = l g 1 J = a + b g 1 3. Thin rectangular plate (rectangular parallel piped) Position of pivot: Passes through the centre of gravity, parallel to side b. 6. Column (inclusive of thin disk) Position of pivot: xis. a r b J = a g 1 J = r g 9
3-3939 7. Solid globe Position of pivot: Diameter.. Thin disk Position of pivot: Diameter. r r J = r g 5 J = r g Installation of external stop Since the shaft and bearings of the actuator could be damaged depending on the shape of load and installation, install an external stop at the mass point of the work or at the load location furthest away from the actuator. hen the load exceeds the allowable energy and the external stop has no shock absorption capability, avoid using the single flat shaft, also avoid installation of external stop anywhere along the length of the actuator. 1. Stop of load movement via external stop Never use a single flat shaft when the external stop has no ability to absorb the shock.. Movement stop by using the single flat shaft and external stop hen the external stop has the ability to absorb the shock, and the load is within the allowable energy limit, the single flat shaft can be used for stopping. Stopper lever The information provided in RS technical literature is believed to be accurate and reliable; however, RS Components assumes no responsibility for inaccuracies or omissions, or for the use of this information, and all use of such information shall be entirely at the user s own risk. No responsibility is assumed by RS Components for any infringements of patents or other rights of third parties which may result from its use. Specifications shown in RS Components technical literature are subject to change without notice. RS Components, PO ox 99, Corby, Northants, NN17 9RS Telephone: 01536 013 n Electrocomponents Company RS Components 1997