Mini-Rotary Actuator Rack-and-Pinion Type/: 5, Series CRJ More Compact! CRB CRBU CRJ CRA CRQ MRQ MSQ MSU In our pursuit of excellence in size and weight reduction, we proudly announce the release of the Series CRJ Mini-Rotary Actuator!.3-
Mini-Rotary Actuator Series CRJ Rack-and-Pinion Type/: 5, Compact 9.5 23.5 43 (54) 48 (6) Light weight CRJ5:32g(39g) CRJ :54g(67g) 3.5 6.5 Actual size (CRJB5-9) Dimensions Weights Top CRJ5 Bottom CRJ Numbers in ( ) are for 8. Flexible mounting A new compact body design not only reduces overall space requirements, but also achieves space savings in wiring and piping. Ease in mounting is maximized thanks to the merits of the new compact body. Free mount Speed controllers do not protrude from the top of the body. Top mount Bottom mount Side mount Wiring and piping direction can be selected depending on mounting conditions. Mounting examples for auto switch and speed controller.3-2
Output shaft Improved allowable load Large roller bearing and large diameter output shaft add to overall compactness while ensuring high rigidity. Roller bearing Model Fr FS(a) FS(b) Output shaft size (mm) Allowable load (N) With external stopper/series CRJU 4 to 5 times allowable kinetic energy ( compared to CRJB) Allowable kinetic energy mj 2..5..5 Fr.25 FS(a) CRJ5 25 2 2 ø5 With external stopper. FS(b) CRJ 3 25 25 ø6.4 With external stopper 2. CRJB5 CRJU5 CRJB CRJU Reduced backlash Even with a single rack design, the use of a special construction minimizes backlash. Pinion gear Piston Thrust Stopping the pinion gear by having it strike against the flat surface of the piston eliminates backlash. 9 8 CRB CRBU CRJ CRA CRQ MRQ MSQ MSU Angle is adjustable: ±5 at each rotation end Variations With external stopper Series CRJB5 CRJB CRJU5 CRJU Rotation angle 9 8 9 Port location Front port Side port Auto switch D-F8 D-F9.3-3
Series CRJ Model Selection Procedure Calculation Example 2 3 Operating conditions List all possible operating conditions according to the mounting position. Fr Fs(b) Required torque Rotation time Fs(a) Confirm the type of load as shown below, and select an actuator that satisfies the required torque. Static load: Ts Resistance load: Tf Load types Inertial load: Ta Confirm that it is within the rotation adjustment time range. Model used Operating pressure Mounting position Load type Ts (N m) Tf (N m) Ta (N m) Load configuration Rotation time t (s) Rotation angle Load mass m (kg) Distance between central axis and center of gravity H (mm) Effective torque Ts Effective torque (3 to 5) x Tf Effective torque x Ta Effective torque. to.5s/9 H b b2 a2 a Rotary actuator: CRJB5-9 Pressure:.4MPa Mounting orientaion: Vertical Type of load: Inertial load Ta Load configuration: 2mm x mm (rectangular plate) Load 2 configuration: 5mm x 5mm (square plate) Rotation time t:.2s Rotation angle: 9 Load mass m:.3kg Load 2 mass m2:.6kg Distance between central axis and center of gravity H: 7mm Inertial load. x Ta = x I x ω = x.57 x - ⁶ x (2 x (π /2)/.2²) =.2N m < Effective torque OK Note) I substitutes for, the value for inertial moment..2s/9 OK 4 Allowable load Confirm that the radial load, thrust load and moment are within the allowable ranges. Thrust load: m x 9.8 Allowable load Allowable load (.3 +.6) x 9.8 =.35N < Allowable load OK 5 6 Inertial moment Find the load's inertial moment "I" for the energy calculation. Kinetic energy Confirm that the load's kinetic energy is within the allowable value. I = m x (a² + b²)/2 I2 = m x (a² + b²)/2 + m x H² I = I + I2 Inertial moment /2 x I x ω² Allowable energy ω = 2θ /t (ω: Terminal angular velocity) θ: Rotation angle (rad) t: Rotation time (s) Allowable kinetic energy/rotation time I =.3 x (.2² +.²)/2 =.25 x - ⁶kg m² I2 =.6 x (.5² +.5²)/2 +.6 x.7² =.32 x - ⁶kg m² I =.25 x - ⁶ +.32 x -6 =.57 x - ⁶kg m² /2 x.57 x -6 x (2 x (π /2)/.2)² =.9J =.9mJ < Allowable energy OK.3-4
Model Selection Series CRJ Effective Torque Effective torque (N m) 5.4.2..8.6.4.2.5.3.29 Load Types.2.7.38 CRJ CRJ5 Operating pressure (MPa).3.26.57.4.34.76..2.3.4.5.6.7 Operating pressure (MPa).5.42.95.6.5. Unit: N m.7.59.3 Note) Effective torque values are representative values. They are not guaranteed values. Use them only as a guide. CRB CRBU CRJ CRA CRQ MRQ MSQ MSU Static load: Ts Definition for our purposes: A load that requires pressing force only, as represented by the clamp. If the mass of the clamp itself in the drawing below ( ) is considered in the calculations, it should be regarded as an inertial load. (Example) l F Clamp Allowable Load F: Pressing force (N) Static torque calculation Ts = F x l (N m) Shaft center Resistance load: Tf Definition for our purposes: A load that is affected by external forces such as friction or gravity. Since the purpose is to move the load, and speed adjustment is necessary, allow an extra margin of 3 to 5 times in the effective torque. Actuator effective torque (3 to 5) x Tf If the mass of the lever itself in the drawing below is ( ) considered in the calculations, it should be regarded as an inertial load. (Example) Mass m Movement Load Lever F Friction coefficient µ F = µmg Static torque calculation Tf = F x l (N m) l g = 9.8m / s² Shaft center Inertial load: Definition for our purposes: The load that is actually rotated by the actuator. Since the purpose is to rotate the load, and speed adjustment is necessary, allow an extra margin of times or more in the effective torque. Actuator effective torque S x Ta (S is times or more) Accelerating torque calculation Ta = I x ω (N m) I : Inertial moment Refer to features page 5. ω: Angular acceleration ω 2θ = (rad/s²) t 2 θ : Rotation angle (rad) t : Rotation time (S) Mini-Rotary actuator Set the load and moment applied to the shaft within the allowable values provided in the table below. (Operation above the allowable values can cause adverse effects on service life, such as play in the shaft and loss of accuracy.) Fs(a) Fs(b) 5 Allowable radial load Fr (N) 25 3 Allowable thrust load (N) Fs(a) Fs(b) 2 2 25 25.3-5
Series CRJ Inertial Moment Formulas. Thin shaft Position of rotational axis: Perpendicular to the shaft anywhere along its length I: Inertial moment kg m², m: Load mass kg 6. Cylinder (including thin round plate) Position of rotational axis: Through the plate's central axis a² I = m x + m2 x a2² 3 3 I = m x 2 r² 2. Thin shaft Position of rotational axis: Through the shaft's centre of gravity 7. Solid sphere Position of rotational axis: Through the sphere's diameter a² I = m x 2 2r² I = m x 5 3. Thin rectangular plate (rectangular parallelopiped) Position of rotational axis: Through the plate's centre of gravity 8. Thin round plate Position of rotational axis: Through the plate's diameter a² I = m x 2 I = m x 4 r² 4. Thin rectangular plate (rectangular parallelopiped) Position of rotational axis: Perpendicular to the plate through one end (also the same in the case of a thicker plate) 9. Load at the end of lever 4a² + b² I = m x + m2 x 2 4a2² + b² 2 I = m₁ x a² + m₂ x a₂² + K 3 (Example) When the shape of m₂ is a sphere, refer to 7 above. K = m₂ x 2r² 5 5. Thin rectangular plate (rectangular parallelopiped) Position of rotational axis: Through the centre of gravity and perpendicular to the plate (also the same in the case of a thicker plate) I = m x a² + b² 2. Gear transmission. Find the inertial moment IB for the rotation of shaft (B). 2. Next, IB is entered to find the inertial moment IA for the rotation of shaft (A) as a IA = ( ) b ² x IB.3-6
Model Selection Series CRJ Kinetic Energy/Rotation Time Even in cases where the torque required for rotation of the load is small, damage to internal parts may result from the inertial force of the load. Take into account the load's inertial moment and rotation time during operation when making your model selection. (The inertial moment and rotation time charts can be used for your convenience in making model selections.). Allowable kinetic energy and rotation time adjustment range From the table below, set the rotation time within the proper adjustment range for stable operation. Note that slow speed operation exceeding the rotation time adjustment range, may lead to sticking or stopping of operation. 5 With external stopper With external stopper - ³ CRJB5 CRJU5 CRJB CRJU Allowable kinetic energy mj Rotation time adjustment range for stable operation s/9.25.. to.5.4 2. 2. Inertial moment calculation Since the formulas for inertial moment differ depending on the configuration of the load, refer to the inertial moment calculation formulas on the preceding page. 3. Model selection Select models by applying the inertial moment and rotation time that you have calculated to the chart below. CRB CRBU CRJ CRA CRQ MRQ MSQ MSU - ⁴ 5 x - ⁵ (2) Inertial moment (kg m²) - ⁵ - ⁶ () CRJB5 selection range CRJB selection range CRJU5 selection range CRJU selection range - ⁷..2.3.4.5 Rotation time (s/9 ). <How to read the chart> Inertial moment x - ⁵kg m² Rotation time.....5s/9 CRJB5 is selected in this case. 2. <Calculation example> Load configuration: A cylinder of radius.5m and mass.4kg Rotation time:.4s/9 I =.4 x.5²/2 = 5 x - ⁵kg m² In the inertial moment and rotation time chart, find the intersection of the lines extended from the points corresponding to 5 x - ⁵ kg m² on the vertical axis (inertial moment) and.4s/9 on the horizontal axis (rotation time). Since the resulting intersection point falls within the CRJU selection range, CRJU may be selected..3-7
Mini-Rotary Actuator Air Consumption Air consumption is the volume of air that is expended by the Mini-Rrotary Actuator's reciprocal operation inside the actuator and in the piping between the actuator and the switching valve. It is required for selection of a compressor and for calculation of its running cost. The air consumption (QCR) required for one reciprocation of a single Mini-Rotary Actuator alone is shown in the table below, and can be used to simplify the calculation. Formulas P +. QCR = 2V x x - ³. P QCP = 2 x a x l x x. - ⁶ QC = QCR + QCP QCR = Air consumption of Mini-Rotary Actuator [l (ANR)] QCP = Air consumption of tubing or piping [l (ANR)] V = Internal volume of Mini-Rotary Actuator [cm ₃ ] P = Operating pressure [MPa] l = Length of piping [mm] a = Internal cross section of piping [mm²] QC = Air consumption required for one reciprocation of Mini-Rotary Actuator [l (ANR)] When selecting a compressor, it is necessary to choose one that has sufficient reserve for the total downstream air consumption of all pneumatic actuators. This is affected by factors such as leakage in piping, consumption by drain valves and pilot valves, and reduction of air volume due to temperature drops. Formula QC2 = QC x n x Number of actuators x Reserve factor QC2 = Compressor discharge flow rate n = Actuator reciprocations per minute Internal cross section of tubing and steel piping Nominal size T 425 T 64 TU 85 T 86 /8B T 75 TU 28 T 29 /4B TS 62 3/8B T 63 /2B 3/4B B O.D. (mm) 4 6 8 8 2 2 6 6 I.D. (mm) 2.5 4 5 6 6.5 7.5 8 9 9.2 2 2.7 3 6. 2.6 27.6 Internal cross section a (mm 2 ) 4.9 2.6 9.6 28.3 33.2 44.2 5.3 63.6 66.5 3 27 33 24 366 598 Air Consumption 5 Rotation 9 8 9 8 Internal volume (cm 3 ).5.3.33.66.5.74.5.6.33.2.89.8.2.39 Air consumption of rotary actuator: QCR l (ANR) Operating pressure (MPa).3.4.5.6.7.2.5.8.2.24.25.3.37.43.49.26.33.39.46.52.52.65.78.9..3-8
Mini-Rotary Actuator Series CRJ Rotation angle 9 8 9 CRJ U 5 9 E F9B 5 Rotation angle 9 8 9 8 9 CRJ B 5 9 E F9B With external stopper 9 8 How to Order Number of auto switches Nil S Auto switch type Connecting port position Front port S S 2 pcs. pc. Nil Without auto switch (built-in magnet) Select applicable auto switches from the table below. CRB CRBU CRJ CRA CRQ MRQ MSQ MSU Nil Side port These auto switches have been changed Contact SMC or view www.smcworld.com F9N M9N F9P M9P F9B M9B E Applicable auto switches Type Solid state switch Special function Diagnostic indication (2-colour indication) Electrical entry Grommet Indicator light Yes Wiring (output) 3-wire (NPN) Lead wire length symbols:.5m.. Nil (Example) F9N 3m... L (Example) F9NL 5m... Z (Example) F9NWZ Auto switches marked "" are produced upon receipt of order. Load voltage DC AC 3-wire (PNP) 2-wire 3-wire (NPN) 3-wire (PNP) 2-wire 24V 2V Auto switch part no. Electrical entry direction Perpendicular In-line F9N F8N F9P F8P F9B F8B F9NW F9PW F9BW Lead wire length (m).5 (Nil) 3 (L) 5 (Z).3-9
Series CRJ Specifications /Type Fluid Max. operating pressure Min. operating pressure Ambient and fluid temperature 5 With external stopper With external stopper Air (non-lube).7mpa.5mpa to 6 C (with no freezing) Rotation angle Note) +8 9, +8 8, 9 + + 9, 8 +8 9, +8 8, 9 + + 9, 8 Angle adjustment range Cylinder bore size Port size ±5 at each rotation end ø6 M3 ±5 at each rotation end ø8 Note) If optimum accuracy of the rotation angle is required, select an actuator with external stopper. Allowable Kinetic Energy and Rotation Time Adjustment Range /Type Allowable kinetic energy (mj) Rotation time adjustment range for stable operation (s/9 ) 5 With external stopper With external stopper CRJB5 CRJU5 CRJB CRJU.25..4 2.. to.5 Weights With external stopper Type/ 5 Note) Above values do not include auto switch weights. 5 Model CRJB5-9 CRJB5- CRJB5-8 CRJB5-9 CRJB -9 CRJB - CRJB -8 CRJB -9 CRJU5-9 CRJU5-8 CRJU -9 CRJU -8 Weight (g) Note) 32 39 54 67 47 53 7 8.3-
Mini-Rotary Actuator Series CRJ Rotating Direction and Rotation Angle The shaft turns clockwise when the A port is pressurized, and counterclockwise when the B port is pressurized. For actuators with external stopper, the rotation end can be set within the ranges shown in the drawing by adjusting the stopper bolt. counterclockwise B port A port clockwise For 9 and For 8 and 9 Single flat Single flat CRB CRBU CRJ CRA CRQ MRQ MSQ MSU +8 + B port Rotation range A port of single flat 9 for Rotation range of single flatfor B port Rotation range of Rotation range of single flat for 8 single flat for 9 +8 + A port With external stopper For 9 For 8 B port Single flat A port Angle adjustment range ±5 Angle adjustment range ±5 B port Single flat A port range ±5 Angle adjustment Angle adjustment range ±5 9 8 Note) The drawings show the rotation range for the shaft's single flat. The single flat position in the drawings shows the counterclockwise rotation end when the rotation angle is adjusted to 9 and 8..3-
Series CRJ Construction /CRJB With external stopper/crju Parts list No. Description Material No. Description 2 3 4 5 6 7 8 9 Body Piston Shaft Bearing retainer Cover Bearing Piston seal O-ring Wear ring Aluminum alloy Stainless steel Stainless steel Aluminum alloy Aluminum alloy Bearing steel NBR NBR Resin 2 3 4 5 6 7 8 The mounting position of hexagon socket head set screws (no. 2) varies depending on the connecting port position. Magnet Round head no. Phillips screw Hexagon socket head set screw Stopper Holder Stopper retainer Hexagon socket head set screw Hexagon nut Hexagon socket head cap screw Material Magnetic material Steel wire Stainless steel Chrome molybdenum steel Aluminum alloy Steel Steel wire Steel wire Stainless steel.3-2
Mini-Rotary Actuator Series CRJ Dimensions/.5, /CRJB 2 x M3 (For side port, use hexagon socket head set screw) BB W N ødd ød H.5 (UU) Q BE 2 x M3 (opposite side, same location) (For front port, use hexagon socket head set screw) 2-J through JA depth of counter bore JB (opposite side, same location) BD S CA BF BC CB BG A CRB CRBU CRJ CRA CRQ SD 2.2 Note ) (.4) 2 x M3 depth 4 6 BA BH 2-JC depth JD MRQ MSQ MSU Note ) This dimension is for the actuator with D-F9 type auto switch (not including the 2-color indication type). BI Note 2) For the 8 specification, the slated line area do not exist. Note 3) The maximum dimensions that appear are those measured at the maximum rotation angle settings: and 9. With external stopper/crju 5.5 3. 6.6 R 4.2 (stopper operating range) Note 2) HA 6 Note 2) Note 3) (max. approx. EB) 2.4 5 9 CRJB5 CRJB.4 Rotation angle 9 8 9 8 A 9.5 BA 3 BB 32.4 43.4 BC 9.5 BD 23.5 35 37.4 2.5 5.4 4 BE 6.5 9 BF 3.5 4.5 BG 7. 2. BH 2 22 BI 7 8.5 CA 2.5 27 24 3.5 CB 5.5 7.5 (max. approx. EA) D 5g6 6g6 DD h9 4h9 J M4 M5 JA 5.8 7.5 25 32 JB 3.5 4.5 JC M4 M5 JD 5 6 H N CRJU5 CRJU Q 4.5 2.5 3.5 5.5 3.5 6.5 EA 5.6 5.6 S 43 54 48 6 EB 33.8 35.8 SD 3.4 5.9 UU 28 32 (mm) HA 6.5 7.5 (mm) W 4.5 5.5.3-3
Series CRJ Auto Switch/Proper Mounting Position at Rotation End A For D-F9 A 5 Rotation 9 8 9 8 A 2.5 23.2 22.4 25.6 D-F9 auto switch Rotation range θm 4 3 Actuation range D-F8 auto switch B Rotation range θm Actuation range 6.5 9.2 8.4 2.6 2 5 Rotation range θm: Value of the operating range Lm of a single auto switch converted to an axial rotation range. Actuation range: Value of auto switch hysteresis converted to an angle. B B For D-F8 Operating range at proper mounting position (Lm/2) Most sensitive position Operating range of single auto switch Lm.3-4
Series CRJ Auto Switch Common Specifications Auto Switch Common Specifications Type Operating time Impact resistance Insulation resistance Withstand voltage Ambient temperature Enclosure Lead Wire Lengths Solid state switch ms or less m/s² 5MΩ or more at 5VDC (between lead wire and case) VAC for min. (between lead wire and case) to 6 C IEC529 standard IP67 JISC92 watertight construction Lead Wire Colour Changes CRB CRBU CRJ CRA CRQ MRQ MSQ MSU Indication of lead wire length (Example) (Example) D-F9PL- 6 D-F9P L Lead wire length Nil L Z Flexible specification.5m 3m 5m Note ) Lead wire length Z: Auto switch applicable to 5m length Solid state switches: All models are produced upon receipt of order. Note 2) The standard lead wire length is 3m for water resistant 2-color indication solid state switches. (.5m is not available.) Note 3) For solid state with flexible wire specification, enter " 6" after the lead wire length. Lead wire colours of SMC auto switches have been changed in order to meet standard IEC947-5-2 for production beginning September, 996 and thereafter, as shown in the tables below. Take special care regarding wire polarity during the time that the old colours still coexist with the new colours. 2-wire (+) Output ( ) Output Solid state with diagnostic output Old Red Black Old (+) Power supply Red GND Power supply Black Output White Diagnostic output Yellow New Brown Blue New Brown Blue Black Orange 3-wire (+) Power supply GND Power supply Output Old Red Black White New Brown Blue Black Solid state with latch type diagnostic output (+) Power supply GND Power supply Output Latch type diagnostic output Old Red Black White Yellow New Brown Blue Black Orange.3-5
Series CRJ/ Specific Product Precautions Be sure to read before handling. 5 Caution Rotation Angle Adjustment As a standard feature, the actuator with external stopper is equipped with a rotation angle adjustment screw that can be used to adjust the angle of rotation. Angle adjustment per single rotation of angle adjustment screw 2.3 2.3 The rotation adjustment range for the actuator with external stopper is ±5 at each rotation end. Please note that adjusting beyond this range, may cause product malfunction. Mounting of Speed Controller and Fittings Caution The M3 piping port is used. In case the speed controller or fittings are directly connected, use the series listed below. Speed controller AS2F/Elbow type AS3F/Universal type One-touch fitting One-touch mini Series KJ Reducer bushing Series M3 Caution Stopper External Stopper Assembly Procedure Caution External Stopper Unit Order external stopper unit with the unit part numbers shown below. Component parts Holder assembly Stopper retainer Hexagon socket head cap screw Holder assembly Hexagon socket head cap screw (set of 4) Model CRJU5-9 CRJU5-8 CRJU - 9 CRJU - 8 Unit part no. P53- P53-2 P532- P532-2 Note ) External stopper units for 8 cannot be applied to the 9 Mini-Rotary Actuators. Note 2) When using external stoppers for 9, use Mini-Rotary Actuators with a rotation range of, and for 8, use actuators with a rotation range of 9. Actuators with external stopper (Model CRJU) come already assembled; therefore, the following procedure is not required. Stopper Stopper retainer Hexagon socket head cap screw Caution Auto Switch Mounting If a size 5 actuator with auto switch is being used, keep the magnetic body away at least 2mm or more from the bottom of the actuator. If the magnetic body comes closer than 2mm, malfunction of the auto switch may occur due to the magnetic force drop. When using the bottom face for mounting, a non-magnetic spacer (such as aluminum) is required as shown below. Mini-Rotary Actuator Single flat Auto switch Non-magnetic spacer with a thickness of 2mm or more Mini-Rotary Actuator Magnetic body.5 Caution Maintenance This product requires special tools; therefore, it cannot be disassembled for maintenance..3-6 2 Figure Figure 2 Assemble the stopper retainer to the stopper temporarily. Then place the stopper retainer in the single flat position and tighten with hexagon socket head cap screws. Leave a space of approximately.5mm between the stopper and the Mini-Rotary Actuator, as shown in Figure. Tighten the hexagon socket head cap screws evenly so that the stopper retainer is not unevenly tightened as in Figure 2. Furthermore, take precautions to avoid applying excessive force to the shaft when tightening. Tighten the holder assembly with hexagon socket head cap screws. Hexagon socket head cap screws Tightening torque N m.8 to.2