RCC
ROTARY ACTUATOR
SPECIFICATIONS
MIN. OPERATING PRESSURE
MAX. OPERATING PRESSURE
OPERATING TEMPERATURE RANGE
ROTATIONAL TOLERANCE
BACKLASH
DEGREES OF ROTATION
LUBRICATION
BASE
WEIGHT
SIZE ROTATION lb
kg
90°
.32 .15
08
180°
.31 .14
90°
.65 .30
12
180°
.61 .28
90°
1.20 .55
16
180°
1.16 .53
RCCx08
30 psi [2.0 bar]
RCCx12
RCCx16
25 psi [1.7 bar]
20 psi [1.4 bar]
100 psi [7 bar]
32 to 150°F [0 to 65°C]
Nominal +10° to -10° with angle adjustment
No backlash at end of rotation
90° and 180°
Permanent for non-lube air
DISPLACEmENT
THEORETICAL
ROTATIONAL
BORE
VOLUmE
TORQUE OUTPUT VELOCITY mAX.
DIAmETER
in2
mm2
in-lb/psi Nm/bar
deg/sec
in mm
.146 240
.315 8
.018
.0021
180°/.16
.292 479
.263 432
.472 12
.050
.0056
180°/.24
.527 863
.514 842
.630 16
.137
.0155
180°/.24
1.027 1683
mAX. AXIAL
BEARING LOAD
lb
N
7.0
31.1
1.3
5.8
15.0
66.7
3.5
15.6
30.0
133.4
9.0
40.0
ROTARIES
NOTE: *At .5 in [12.7 mm] from hub face
180
SIZE08
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mAX. RADIAL
BEARING LOAD*
lb
N
RCC ACTUATOR
3) Determine torque requirements
SERIES RCC SELECTION
To select the appropriate Series RCC Rotary Actuator, it is
important to consider all factors that influence actuator life. The
main factors for selecting the proper RCC Rotary Actuator are: radial
bearing capacity, thrust bearing capacity, kinetic energy stopping
capabilities, torque requirements, and rotation time. Follow the steps
below to select the appropriate RCC actuator.
1) Determine the load information
b) Determine the required acceleration.
α = .035 x Rotational Angle (deg)/[Rotational Time (sec)]2
c) Calculate required torque. PHD recommends a minimum safety factor (SF) of 2 to account for friction loss, air line and valve size.
2) Determine minimum actuator based on radial or axial load
a) Calculate moment created by the radial load. For radial load applications, the allowable load is based on the moment
induced by the load. The Cg distance is shown below for a
radial load application.
Cg
Radial Load Cg Distance
Moment = (Weight of Load) x (Cg Distance)
b) Select the minimum actuator based on the axial load capacity or calculate the moment induced by an unbalanced axial load.
For axial load applications where the load is on the hub centerline, the maximum load is based on the maximum allowable axial load, see the Maximum Bearing Capacity Table for the maximum allowable loads.
For unbalanced axial loads, see the Bearing Capacity Graph for the allowable loads.
For unbalanced axial loads with Cg distance greater than the hub radius, it is best to calculate the moment created by the off-center loads and size the actuator based on the maximum moment capacity.
c) Select the minimum actuator based on the maximum allowable loads by comparing the calculated moment to the values given in the Maximum Bearing Capacity Table and by taking axial load values from the Bearing Capacity Graph.
Cg
For balanced and unbalanced loads rotating without gravity, the following torque formula applies.
T = Jm x α x SF
For unbalanced loads rotating without gravity, see the unbalanced load application types for the appropriate torque formulas.
d) Calculate the Minimum Operating Pressure (see the Minimum Operating Pressure Table). This step will determine which actuator is capable of providing adequate torque. NOTE: When calculating minimum operating pressure, any unbalanced axial load with a Cg distance smaller than the hub radius will be treated as an axial load.
Using the theoretical torque values given in the Engineering Data section, select the minimum operating pressure. The moment calculated in 2a/2b and torque from 3c are used in the formulas.
If the calculated pressure is greater than or equal to the actual operating pressure, the next larger actuator should be used to provide adequate torque throughout the life of the actuator.
4) Determine the stopping capacity required for this application
a) Determine the impact velocity
Rotation Angle (deg)
Rotation Time (sec)
b) Using Jm calculated in step 3a and impact velocity from step 4a, determine the kinetic energy of the system by using the basic KE equation. Or you can select the appropriate actuator from the KE Capacity Chart using the Jm value and the impact velocity.
ω (rad/sec) = .035 x
KE =
1
x Jm x ω2
2
c) Use the Maximum Allowable Kinetic Energy Table to select
appropriate RCC actuator.
Unbalanced Axial Load Cg Distance
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181
SIZE08
ROTARIES
Depending on the application, this may include the
following information:
a)Rotation angle and time to achieve full rotation
b)Weight of load
c)Radius of gyration
d)Axis orientation
e)Center of gravity (Cg) measured from the hub
f) Operating pressure
a) Calculate Mass Moment of Inertia (Jm). Select the illustration from the application types on the following page.
RCC ACTUATOR
IMPERIAL UNITS:
Jm= Rotational Mass Moment of Inertia (in-lb-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 386.4 in/sec2
Fg = Weight of Load (lb)
k = Radius of Gyration (in)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (in-lbs)
SF = Safety Factor
METRIC UNITS:
Jm= Rotational Mass Moment of Inertia (N-m-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 9.81 m/sec2
Fg = Weight of Load (N)
k = Radius of Gyration (m)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (N-m)
M = Mass = Fg / g (kg)
SF = Safety Factor
Balanced Loads
T = Jm x α ­x SF
Disk
Disk
Mounted on center
Solid Sphere
End mounted on center
Mounted on center
L
k
k
k
2
Jm = Fg x k
g
2
LOAD ORIENTATION
ROTARIES
Fg
1
x
x
g
4
Jm =
( L3 + k )
2
Jm =
2
Rectangular Plate
Rod
Mounted on center
Mounted on center
k dim is
radius
of rod
b
Tg = Rotating Vertically
(with gravity)
2 Fg
x
x k2
5
g
a
a
2
2
Jm = Fg x a + 3k
12
g
2
2
Jm = Fg x a + b
g
12
T = Rotating Horizontally
(without gravity)
UNBALANCED LOADS
UNBALANCED LOADS
Tg = [(Jm x α) + [(Fg2 - Fg1) x (a + ( b-a ))]] x SF
2
T = Jm x α x SF
Tg = [(Jm x α) + (Fg x k)] x SF
T = Jm x α x SF
Rectangular Plate
Point Load
Rod
Mounted off center
Mounted off center
Fg2
Fg2
k dim is
radius
of rod
c
b
b
k
Fg
Fg
Jm =
x k2
g
182
SIZE08
a
a
Fg1
2
2
F
g1
F
g2
4a
+
c
Jm =
x
+
x 4b + c
g
g
12
12
2
2
Jm =
(Fg
g1
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)(
Fg1
)
Fg2 (4b2 + 3k2)
x (4a + 3k ) +
x
g
12
12
2
2
RCC ACTUATOR
mAXImUm BEARING CAPACITY
SIZE
8
12
16
mOmENT
in-lb
Nm
0.65 0.073
1.75 0.198
4.50 0.508
AXIAL LOAD
lb
N
7.0
31.1
15.0
66.7
30.0 133.4
BEARING CAPACITY
32
[142.3]
28
[124.6]
LOAD lb [N]
24
[106.8]
20
[89.0]
RCCx16
16
[71.2]
12
[53.4]
RCCx12
8
[35.6]
4
[17.8]
0
RCCx8
0
0.2
[5.08]
0.4
[10.16]
0.6
[15.25]
0.8
[20.32]
1
[25.4]
1.2
[30.48]
1.4
[35.56]
1.6
[40.64]
1.8
[45.72]
2
[50.8]
SHOCK PAD ENERGY CAPACITY
1800
ALLOWABLE ImPACT VELOCITY (deg/sec)
ROTARIES
CENTER OF GRAVITY DISTANCE in [mm]
1600
1400
1200
1000
800
600
400
200
0
RCCx8
0
0.001
[0.00011]
0.002
[0.00023]
RCCx12
0.003
[0.00034]
0.004
[0.00045]
RCCx16
0.005
[0.00057]
0.006
[0.00068]
ATTACHED LOAD, mOmENT OF INERTIA (in-lb-sec2) [N-m-s2]
mINImUm OPERATING PRESSURE
mAXImUm ALLOWABLE
KINETIC ENERGY
SIZE
FORmULA
8 2.86 x (Axial Load) + 15.4 x (Moment) + 54.3 x (Torque) + 30
12
1.0 x (Axial Load) + 5.7 x (Moment) + 20 x (Torque) + 25
16
0.5 x (Axial Load) + 1.56 x (Moment) + 7.3 x (Torque) + 20
SIZE in-lb Nm
8
0.03 0.0034
12 0.04 0.0045
16 0.08 0.0090
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183
SIZE08
RCC ACTUATOR
SIZING EXAMPLE 1
1) Determine the load information
Load = Aluminum disk mounted on center
Rotation Angle = 180°
Pressure = 87 psi
Rotation Time = 0.6 seconds
Weight = 0.236 lb
Load Radius = 0.875 in
Axis Orientation = Horizontal
Center of Gravity Distance = 0.50 in
Safety Factor = 2
.875
2) Determine minimum actuator based on radial or axial load
a) Calculate the moment created by the radial load:
b) Select minimum actuator based on axial load:
ROTARIES
Moment = (Weight of Load) x (Cg Distance)
Moment = (0.236 lb) x (0.50 in)
Moment = 0.118 in-lb
Axial Load = 0 lb for this application
8 mm RCC satisfies the requirement
c) Select minimum actuator based on moment load:
Based on the moment load created by the horizontal load, the 8 mm RCC satisfies the requirement.
1.00
d) Calculate the minimum operating pressure:
Based on theoretical values, the 8 mm RCC will provide adequate torque at 87 psi. Check if minimum operating pressure exceeds the operating pressure for this application.
30
P = 2.86 x (Axial Load) + 15.4 x (Moment) +54.3 x (Torque) +
For this application the 8 mm RCC will provide adequate torque at 87 psi.
4) Determine the stopping capacity required:
3) Determine torque requirements:
a) Calculate the mass moment of inertia:
Disk mounted on center
ω = 10.5 rad/sec
1
x Jm x ω2
2
1
KE =
x .000234 x 10.52
2
KE =
α = .035 x Rotational Angle (deg)2
[Rotational Time(sec)]
α = .035 x 180° 2
[.6 sec]
α = 17.5 rad/sec2
c) Use the Maximum Allowable Kinetic Energy Table to select
the appropriate RCC actuator.
T = Jm x α x SF
T = .000234 x 17.5 x 2
T = .0082 in-lbs
SIZE08
ω (rad/sec) = .035 x Rotational Angle (deg)
Rotational Time(sec)
180°
ω = .035 x
.6 sec
b) Using Jm from step 3a and velocity from step 4a, determine the kinetic energy of the system:
Jm = .000234 in-lb-sec2
c) Calculate the required torque:
184
a) Calculate the impact velocity
b) Determine the required angular acceleration:
Fg k2
x
g
2
2
.236
lb
Jm =
x .875 in
386.4
2
Jm =
P = 2.86 x (0) + 15.4 x (.118) + 54.3 x (.0082) + 30
P = 32.3 psi < 87 psi
KE = .0129 in-lb
The 8 mm RCC has sufficient KE capability and satisfies the requirments for torque and bearing capacity.
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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RCC ACTUATOR
SIZING EXAMPLE 2
1) Determine the load information
Load = Unbalanced bar with point load
Rotation Angle = 180°
Pressure = 60 psi
Rotation Time = 1.0 seconds
Point Load Weight = 0.300 lb
Point Load Cg Radius = 2.0 in
Bar Weight = .112 lb
Axis Orientation = Vertical
Safety Factor = 2
3.000
2.000
.500
Rotating load horizontally
(without gravity)
2) Determine minimum actuator based on radial or axial load
a) Calculate the moment created by the radial load:
b) Select actuator based on axial load:
Radial Load = 0 lb for this application
Centered Axial Load = 0 lb for this application because the load is unbalanced
Moment = (Weight of Point Load) x (Cg Distance)
For this application a portion of the bar adds to the moment while the remainder subtracts from the moment. The bar is treated as two parts in the moment equation. The portion that adds is 2.5 inches and weighs (.112 x (2.5/3.0)) = .093 lb. The remainder that subtracts will be .5 inches and weighs
(.112 x (.5/3.0)) = .019 lb.
Moment = (.300) x (2.0) + (.093) x (1.25) - (.019) x (.25)
Moment = .712 in-lb
d) Select the minimum actuator based on moment load:
Based on the moment load created by the unbalanced load, the 12 mm RCC satisfies the requirement.
3) Determine torque requirements:
a) Calculate the mass moment of inertia:
Point load plus a rectangular plate mounted off center.
Point load:
Jm1 =
Fg 2
xk
g
.300 lb
Jm1 =
x 2.02
386.4
Jm1 = .0031 in-lb-sec2
Rectangular plate mounted off center:
Fg1 4a2 + c2 Fg2 4b2 + c2
Jm2 = g x
+ g x
12
12
.019 lb 4(.5)2 + .752 .093 lb 4(2.5)2 + .752
Jm2 =
x
+
x
386.4
12
386.4
12
Jm2 = .0005 in-lb-sec2
b) Determine the required angular acceleration:
Rotational Angle (deg)
[Rotational Time(sec)]2
180°
α = .035 x
[1.0 sec]2
α = .035 x
α = 6.3 rad/sec2
c) Calculate the required torque:
T = Jm x α x SF
T = .0036 x 6.3 x 2
T = .0454 in-lb
d) Calculate the minimum operating pressure:
Based on theoretical values, the 12 mm RCC will provide adequate torque at 60 psi. Check if minimum operating pressure exceeds the operating pressure for this application.
P = 1.0 x (Axial Load) + 5.7 x (Moment) + 20.0 x (Torque) + 25
P = 1.0 x (0) + 5.7 x (.712) + 20.0 x (.0454) + 25
P = 30.0 psi < 60 psi
4) Determine stopping capacity required:
a) Calculate the impact rotational velocity:
ω (rad/sec) = .035 x
ω = .035 x
ω = 6.3 rad/sec
180°
1.0 sec
Rotational Angle (deg)
[Rotational Time(sec)]2
b) Using Jm from step 3a and velocity from step 4a, determine the kinetic energy of the system:
Jmtotal = Jm1 + Jm2
Jmtotal = .0031 + .0005
Jmtotal = .0036 in-lb-sec2
c) Calculate the moment created by the unbalanced load:
Sum Jm1 and Jm2:
1
x Jm x ω2
2
1
KE =
x .0036 x (6.3)2
2
KE =
KE = .07 in-lb
c) Use the Maximum Allowable Kinetic Energy Table to select
the appropriate RCC actuator.
The 16 mm RCC has sufficient KE capability and satisfies the requirements for torque and bearing capacity.
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185
SIZE08
ROTARIES
.750
RF
ROTARY ACTUATOR
SPECIFICATIONS
OPERATING PRESSURE
OPERATING TEMPERATURE
RATED LIFE
ROTATIONAL TOLERANCE
BACKLASH*
LUBRICATION
MAINTENANCE
SERIES RF
20 to 100 psi max [1.4 to 6.8 bar]
-20° to 160°F [-29° to 71°C]
5 million cycles
Nominal rotation +6° to -180° with angle adjustments
0° at end of rotation
Factory lubricated for rated life
Field repairable
NOTE: *Angle adjustment screw must be engaged or adjusted to achieve 0° backlash.
SIZE
14
20
25
BASE
BORE
DISPLACEmENT
THEORETICAL
ROTATION RATES @ 80 psi
WEIGHT DIAmETER
VOLUmE
TORQUE OUTPUT
mAXImUm VELOCITY
lb kg
in mm
in3
mm3
in-lb/psi Nm/bar
deg/sec
deg/sec
.62 .28 .551 14
.44
7.17
.07
.11
180°/.35
90°/0.24
1.88 .85 .787 20
1.53 25.07
.24
.40
180°/.43
90°/0.26
3.43 1.56 .984 25
4.18 68.55
.67
1.09
180°/.37
90°/0.23
ROTATION
180°
180°
180°
BEARING LOADS TABLE
BACKLASH AT mID-ROTATION
ROTARIES
UNIT SIZE
14
20
25
± Degrees
2.80
1.38
0.82
UNIT
SIZE
14
20
25
mAX AXIAL
BEARING LOAD
lb
N
2.5
11
4.9
22
8.1
36
mAXImUm COmBINED
RADIAL AND AXIAL
PAYLOAD
lb
N
1.7
7.6
3.3
14.7
5.5
24.5
ROTATION SPEED CONTROLS
ANGLE OF ROTATION
Standard angle of rotation is 180°. Consult PHD for rotation
requirements above 180°. All units are supplied with angle
adjustment which provides 90° adjustment from each end.
ROTATION RATES
mAX RADIAL
BEARING LOAD
lb
N
3.0
13
5.8
26
9.7
43
Control of output hub speed is extremely important as kinetic
energy generated by a rotating load is a function of rotational speed
and distance from the load to output hub center. Flow controls
should be considered to set speed so that the energy is within the
limit of the unit.
The speeds given in the chart above reflect one cycle of 180°
with no load applied at 80 psi [5.5 bar]. Times given are average and
include the deceleration time through to stopping.
186
SIZE08
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RF ROTARY ACTUATOR
SIZING A SERIES RF UNIT BASED ON
TORQUE OUTPUT AND STOPPING
CAPACITY
A number of factors must be considered when selecting a
Series RF Rotary Actuator. These include actuator orientation, total
load attached and rotational speed. The process of selecting the
proper Series RF rotary actuator consists of three main steps:
1) Size the actuator based on the torque requirements
2) Size the actuator based on stopping capacity
3) Size the actuator based on bearing capacity
Choose the actuator which meets the requirements of your
application.
STEP 1
Determine Rotational Mass Moment of Inertia (Jm)
Select the illustration from the application types on page
189 that most resembles your specific application. Several
separate calculations may be necessary to fully describe
your application. Using the appropriate application equation,
calculate the mass moment of inertia for the type of condition
illustrated. The total mass moment of inertia is the sum of the
individual calculations.
STEP 2
Determine Necessary Acceleration (αA)
This equation calculates the acceleration necessary to move
through the required angle of rotation in the specified time. The
results are given in radians/sec2.
.035 x Rotation Angle in Degrees
(Time of Rotation in Seconds)2
STEP 3
Calculate the Required Starting Torque (TA)
Select the illustration from the application types on page
189 that most resembles your specific application. Several
separate calculations may be necessary to fully describe your
application. Using the appropriate application equation,
calculate the torque for each for each type of condition
illustrated that matches your application. The total torque
will be the sum of the individual calculations. Note: Torque
calculations are theoretical, an appropriate safety factor should
be considered. PHD recommends a minimum safety factor of 2
to account for friction loss, air line and valve size, and attached
accessories.
Starting Torque (in/lb) = TA, TAg
STEP 4
Calculate the Peak Velocity (ω)
This formula estimates the peak velocity of the Series RF in operation, and is used to determine the stopping capacity of the rotary actuator. The result is given in radians/sec.
Average Velocity (deg/sec) = Rotational Angle in Degrees
Time of Rotation in Seconds
Estimated Peak Velocity = .035 x Average Velocity (deg/sec)
STEP 5
Compare Peak Velocity (ω) to Allowable Impact
Compare the peak velocity to the maximum allowable velocity for the given Mass Moment of Inertia (Jm) of your application. The chart is labeled Shock Pad Energy Capacity. The charts represent the total amount of energy that is able to be absorbed and provide acceptable motion of the actuator. Acceptable motion is defined as a maximum of one degree of motion reversal when the load comes to the end of stroke. Note: The unit may be run at slightly higher velocities and loads than these charts indicate without damage; however, the motion profile may be unacceptable. Please contact PHD if the Series RF Rotary Actuator is to be used outside of the recommended energy range. If the shock pad does not provide enough stopping capacity for the application, the next larger size of actuator should be considered.
SHOCK PAD ENERGY CAPACITY
18.0
16.0
14.0
RFSx25
12.0
RFSx20
10.0
8.0
RFSx14
6.0
4.0
2.0
0.0
0
0.01
[.00113]
0.02
[.00226]
0.03
[.00339]
2
0.04
[.00452]
2
Attached Load, moment Of Inertia (in-lb-sec ) [Nm-s ]
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187
SIZE08
ROTARIES
SIZING A SERIES RF UNIT BASED ON
STOPPING CAPACITY
Allowable Impact Velocity (rad/sec)
SIZING
RF ROTARY ACTUATOR
SIZING A SERIES RF UNIT BASED ON
MOMENT CAPACITY
STEP 6
Use these charts to determine if your application is within
the allowable attached load for a specific size. The charts are used
when the load is defined and the distance of the center of gravity of
the load from the center of rotation or face of the rotary actuator is
known. See the illustration below.
CG
Horizontal Orientation (in)
(CG)= Distance from Face of Hub to
Center of Gravity of Load
Vertical Orientation (in)
(CG)= Distance from Centerline of Hub
to Center of Gravity of Load
CG
mAXImUm mOmENT CAPACITY
RFSx14
1.6 [7.12]
ROTARIES
Load lb [N]
1.4 [6.23]
1.2 [5.34]
1 [4.45]
0.8 [3.56]
0.6 [2.67]
0.4 [1.78]
0.2 [0.89]
0
0
0.2
[5.08]
0.4
[10.16]
0.6
[15.24]
0.8
[20.32]
1
[25.4]
1.2
[30.48]
1.4
[35.56]
Center of Gravity Distance in [mm]
3.5 [15.58]
RFSx20
Load lb [N]
3 [13.35]
2.5 [11.12]
2 [8.90]
1.5 [6.67]
1 [4.45]
0.5 [2.22]
0
0
0.5
[12.7]
1
[25.4]
1.5
[38.1]
2
[50.8]
2.5
[63.5]
Load lb [N]
Center of Gravity Distance in [mm]
5.5 [24.48]
5 [22.25]
4.5 [20.02]
4 [17.79]
3.5 [15.57]
3 [13.35]
2.5 [11.12]
2 [8.90]
1.5 [6.67]
1 [4.45]
0.5 [2.22]
0
RFSx25
0
0.5
[12.7]
1
[25.4]
1.5
[38.1]
2
[50.8]
2.5
[63.5]
3
[76.2]
3.5
[88.9]
4
[101.6]
Center of Gravity Distance in [mm]
188
SIZE08
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RF ROTARY ACTUATOR
IMPERIAL UNITS:
Jm= Rotational Mass Moment of Inertia (in-lb-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 386.4 in/sec2
Fg = Weight of Load (lb)
k = Radius of Gyration (in)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (in-lbs)
SF = Safety Factor
METRIC UNITS:
Jm= Rotational Mass Moment of Inertia (N-m-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 9.81 m/sec2
Fg = Weight of Load (N)
k = Radius of Gyration (m)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (N-m)
M = Mass = Fg / g (kg)
SF = Safety Factor
Balanced Loads
T = Jm x α ­x SF
Disk
Disk
Mounted on center
Solid Sphere
End mounted on center
Mounted on center
L
k
k
k
Jm =
LOAD ORIENTATION
Fg
1
x
x
g
4
( L3 + k )
2
Jm =
2
Rectangular Plate
Rod
Mounted on center
Mounted on center
k dim is
radius
of rod
b
Tg = Rotating Vertically
(with gravity)
a
a
2
2
Jm = Fg x a + 3k
12
g
2
2
Jm = Fg x a + b
g
12
T = Rotating Horizontally
(without gravity)
UNBALANCED LOADS
UNBALANCED LOADS
Tg = [(Jm x α) + [(Fg2 - Fg1) x (a + ( b-a ))]] x SF
2
Tg = [(Jm x α) + (Fg x k)] x SF
Rectangular Plate
Point Load
Rod
Mounted off center
Mounted off center
Fg2
Fg2
c
Jm =
k dim is
radius
of rod
b
b
k
Fg
Fg
x k2
g
2 Fg
x
x k2
5
g
ROTARIES
2
Jm = Fg x k
g
2
a
Fg1
a
Jm = Fg1 x 4a + c + Fg2 x 4b + c
g
g
12
12
2
2
2
2
Jm =
(Fg
g1
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
(800) 624-8511
Fg1
)(
)
Fg2 (4b2 + 3k2)
x (4a + 3k ) +
x
g
12
12
2
2
189
SIZE08
RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 1
CG
Weight = .75 lb + .25 lb Plate
Rotation Angle = 180°
Pressure = 65 psi
Orientation = Vertical
Center of Gravity Distance = 1.125" for .75 lb
.5" for .25 lb
Desired Cycle Rate = .40 sec
Safety Factor = 2
Axial Load = .75 lb + .25 lb
1.125"
.75 lb
.5"
.25 lb
2"
EXAMPLE 1
STEP 1
Determine Jm of Plate mounted off center
Fg1 4a2 + c2 Fg2 4b2 + c2
Jm =
x
+
x
g
g
12
12
STEP 4
Calculate Peak Velocity
Average Velocity =
Peak Velocity = .035 x Average Velocity(deg/sec)
4(2)2 + (2)2
.083 4(1)2 + (2)2 .167
x
+
x
12
12
386.4
386.4
(.0002148 x .6667) + (.000432195 x 1.6667)
.000143 + .000720326
ROTARIES
Jm = .0008633 in-lb-sec2
Determine Point Load
Jm =
Jm =
Fg
g
Peak Velocity = .035 x 450 = 15.75 rad/sec
STEP 5
Compare the Peak Velocity
Compare this value to the Shock Pad Energy Capacity Graph on
page 187 and the Maximum Velocity Table on page 186. We see the
following:
• The size 14 will not handle the Jm value.
x K2
• The size 20 will not attain the cycle time required.
.75
x (1.125)2
386.4
• The size 25 will perform the task in the desired time.
Jm = .0019409 x 1.2656
Jm = .002456 in-lb-sec
2
Jm Total = .00086 + .00245 = .00331 in-lb-sec2
STEP 2
Determine Acceleration
.035 x Rotation Angle in Degrees
(Time of Rotation in Seconds)2
.035 x
180
= 450 deg/sec
.40
STEP 6
Determine the bearing capabilities of a Size 25
Since we know the axial loading but not the radial loading for
this application, we compare it to the Maximum Moment Capacity
Graph on page 188.
At this loading condition the size 25 has the capability of 1 lb at
around 2.75 inches off center. Our application is at 1.125 inches.
Therefore; the RFSx25 is suitable for this application.
180
(.40)2
39.38 rad/sec2
STEP 3
Starting Torque
T=
T = .00331 x 39.38 x 2
T = .261 in-lb
190
SIZE08
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•
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RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 2
Weight = 1.5 lb
Rotation Angle = 180°
Pressure = 60 psi
Orientation = Horizontal
Center of Gravity Distance = .5"
Desired Cycle Rate = .5 sec
Safety Factor = 2
Axial Load = Ø
Cycles per minute = 20
EXAMPLE 2
STEP 1
Determine Jm
(Equation is from page 189, Disk Mounted on Center)
Fg K2
Jm =
x
g
2
• The size 14 cannot handle the Jm value of .0038. The size 14 cannot stop the load.
(1.3)2
1.5
x
386.4
2
Jm = .00328 in-lb-sec2
STEP 2
Determine Acceleration
• The size 20 can stop the load and perform the task in the
required time.
STEP 6
Determining the bearing capabilities of a Size 20.
.035 x Rotation Angle in Degrees
(Time of Rotation in Seconds)2
.035 x
180
(.5)2
ROTARIES
Jm =
STEP 5
Compare the Peak Velocity
Check this value against the Shock Pad Energy Capacity Graph
on page 187.
We now check the loading condition against the Maximum
Moment Capacity Graph for the size 20 on page 188.
We see that a size 20 can handle approximately 2.5 lbs at
.5 inches from center of gravity distance.
25.2 rad/sec2
Therefore; the RFSx20 is suitable for this application.
STEP 3
Starting Torque
(Equation is from page 189)
T=
T = .00328 x 25.2 x 2
T = .165 in-lb
STEP 4
Calculate Peak Velocity
Average Velocity =
180
= 360 degrees/sec
.5
Peak Velocity = .035 x Average Velocity (deg/sec)
Peak Velocity = .035 x 360 = 12.6 rad/sec
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
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191
SIZE08
RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 3
Weight = 1.75 lb
Rotation Angle = 180°
Pressure = 80 psi
Orientation = Vertical
Center of Gravity Distance = Ø
Desired Cycle Rate = 1.0 sec
Safety Factor = 2
Axial Load = 1.75 lb (weight)
Cycles per minute = 30
EXAMPLE 3
STEP 1
Determine Jm
(Equation is from page 189, Disk Mounted on Center)
Jm =
Jm =
Fg
g
x
Compare this value to the Shock Pad Energy Capacity Graph on
page 187.
K2
2
(1.4)2
1.75
x
386.4
2
• The size 14 will handle the Jm value at the rated Peak
Velocity.
Jm = .0044 in-lb-sec2
STEP 2
Determine Acceleration
ROTARIES
.035 x Rotation Angle in Degrees
(Time of Rotation in Seconds)2
.035 x
STEP 5
Compare the Peak Velocity
180
(1.0)2
STEP 6
Determine the bearing capabilities of size 14.
Use the Bearing Load Table on page 186 for the RFSx14.
Since we have only an axial load we can support up to 2.5 lb.
Therefore; the Series RFSx14 is suitable for this application.
6.3 rad/sec2
STEP 3
Starting Torque
(Equation is from page 189)
T=
T = .0044 x 6.3 x 2
T = .055 in-lb
STEP 4
Calculate Peak Velocity
Average Velocity =
180
= 180 degrees/sec
1.0
Peak Velocity = .035 x Average Velocity (deg/sec)
Peak Velocity = .035 x 180 = 6.3 rad/sec
192
SIZE08
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•
(800) 624-8511
ROTARY ACTUATOR
SPECIFICATIONS
OPERATING PRESSURE
OPERATING TEMPERATURE
RATED LIFE
ROTATIONAL TOLERANCE
BACKLASH AT END OF ROTATION
SERIES RL
20 to 150 psi [1.4 to 10 bar]
-20° to 180°F [-29° to 82°C]
5 million cycles
Nominal rotation +10° to -0°
1° 30' (12/16mm), 1° 0' (20/25mm)
0° 45' (32/40mm), 0° 30' (50/63mm)
Factory lubricated for rated life
Field repairable
LUBRICATION
MAINTENANCE
SIZE
12
16
20
25
32
40
50
63
ROTATION
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
BASE
WEIGHT
lb kg
.3 .13
.4 .18
.4 .18
.4 .18
.5 .22
.6 .27
.7 .32
.8 .36
.9 .41
1.1 .50
1.2 .54
1.4 .64
1.7 .77
2.0 .91
2.3 1.04
2.6 1.17
3.3 1.49
4.3 1.95
5.2 2.36
6.0 2.72
6.9 3.13
9.2 4.17
10.5 4.76
12.3 5.57
mAX AXIAL mAX RADIAL
BEARING
BEARING
LOAD
LOAD
lb
N
lb
N
DISTANCE
BETWEEN
BEARINGS
in
mm
BORE
DIAmETER
in mm
DISPLACEmENT
THEORETICAL
ROTATIONAL
VOLUmE/DEG TORQUE OUTPUT VELOCITY mAX
3
3
deg/sec
in /° mm /° in-lb/psi Nm/bar
.472
12
.0005
8.19
.029
.05
180°/.03
26
115
165
734
.65
16.6
.630
16
.001
16.39
.062
.10
180°/.03
39
173
230
1023
.73
18.6
.787
20
.002
32.77
.122
.20
180°/.05
39
173
230
1023
.89
22.6
.984
25
.004
65.55
.228
.37
180°/.05
110
489
320
1423
1.11
28.1
1.260 32
.008
131.10
.468
.77
180°/.05
160
711
390
1734
1.28
32.6
1.575 40
.017
278.58
.974
1.60
180°/.06
184
818
420
1868
1.60
40.6
1.969 50
.032
524.39
1.826
2.99
180°/.075
285 1267
660
2935
1.93
49.1
2.480 63
.063 1032.38
3.624
5.94
180°/.075
450 2001
925
4114
2.52
64.1
ROTARIES
Rl
OPTION WEIGHT TABLE
BORE
SIZE
12 mm
16 mm
20 mm
25 mm
32 mm
40 mm
50 mm
63 mm
TYPE OF
UNIT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
CUSHION
ANGLE ADJUSTMENT
45° OR 90°
lb
kg
0.4
0.18
0.4
0.18
0.5
0.23
0.6
0.27
0.9
0.41
0.9
0.41
1.4
0.64
1.4
0.64
2.0
0.91
2.4
1.07
3.2
1.45
3.6
1.63
6.0
2.72
6.8
3.08
10.4 4.71
10.6 4.81
NOmINAL ROTATION
135° OR 180°
225° OR 270°
lb
kg
lb
kg
0.4
0.18
0.5
0.22
0.5
0.22
0.5
0.22
0.6
0.27
0.7
0.32
0.7
0.32
0.7
0.32
0.9
0.41
1.0
0.45
1.0
0.45
1.1
0.50
1.5
0.68
1.6
0.70
1.5
0.68
1.7
0.80
2.3
1.04
2.7
1.22
2.7
1.22
3.0
1.36
4.0
1.81
4.9
2.22
4.3
1.95
5.3
2.40
6.7
3.04
7.7
3.49
7.6
3.45
8.5
3.85
11.8 5.35
13.5 6.12
12.0 5.44
13.7 6.21
NOTE: Units with shock pad options are the same approximate weight as plain units. Units
with shock absorber options are the same approximate weight as units with angle adjustment.
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
(800) 624-8511
193
SIZE08
RL ROTARY ACTUATOR
To select the appropriate RL rotary actuator, it is crucial to consider
several factors including bearing capacity, torque requirements and
stopping capacity of the actuator. The bearing capacities are listed
on page 193. To determine the required torque to rotate the load in
a given time, the rotational mass moments of inertia, gravity, time
and acceleration must be taken into account. To stop an actuator, all
of the same required information for torque is needed plus kinetic
energy. Follow the steps below to select the appropriate RL actuator.
3) Determine the stopping capacity of the actuator by using the
equation given below.
KINETIC ENERGY BASIC EQUATION
a) Determine the rotational velocity by using equation A. ROTATIONAL VELOCITY EQUATIONS
1) Review page 193 to make sure RL rotary actuator bearings can
withstand axial and radial bearing loads.
EQUATION A
2) Determine the torque requirements of the actuator.
ROTARIES
a) Determine Mass Moment of Inertia.
Select the illustration from the application types on
the following page that most resembles your specific
application. Several separate calculations may be
necessary to fully describe your application. Using the
appropriate application equation, calculate the mass
moment of inertia for each type of illustration. The total
mass moment of inertia will be the sum of the individual
calculations.
b) Determine the necessary acceleration.
Estimated Peak Velocity (rad/sec)
Uniformly accelerated from rest
rad
sec
.035 x Degrees of Rotation
Time of Rotation in seconds
b) Using Jm from step 2a and velocity from step 3a, calculate the kinetic energy of the application.
c) Use the KE Energy Table below to select appropriate
RL actuator.
2 x (Rotation angle in radians)
Acceleration (α) =
(Time of Rotation in Seconds)2
Acceleration (α) =
.035 x (Rotation angle in degrees)
(Time of Rotation in Seconds)2
c) Calculate the required torque.
Select the illustration from the application types on
the following page that most resembles your specific
application. Several separate calculations may be
necessary to fully describe your application. Using the
appropriate application equation, calculate the mass
moment of inertia for each type of illustration. The total
torque will be the sum of the individual calculations.
Note: Torque calculations are theoretical, an appropriate
safety factor should be considered. PHD recommends a
minimum safety factor of 2 to account for friction loss,
airline and valve size, and attached accessories.
KINETIC ENERGY TABLE
BORE
SIZE
12 mm
16 mm
20 mm
25 mm
32 mm
40 mm
50 mm
63 mm
194
SIZE08
KE mAX.
PLAIN UNIT
in-lb Nm
.07
.008
.09
.011
.16
.018
.22
.025
.48
.054
1.03 .116
1.78 .202
2.63 .297
KE mAX. WITH
SHOCK PAD
in-lb Nm
—
—
.26
.03
.30
.03
.39
.04
.83
.09
1.80
.20
3.12
.35
4.60
.52
KE mAX. WITH
CUSHION
in-lb Nm
.35
.040
.53
.060
.60
.068
.79
.089
1.66 .188
3.60 .406
6.25 .706
9.21 1.040
KE mAX. WITH
SHOCK ABSORBER
Nm
in-lb
—
—
—
—
—
—
.678
6.00
12.00 1.356
30.00 3.390
48.00 5.423
84.00 9.491
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
(800) 624-8511
RL ROTARY ACTUATOR
IMPERIAL UNITS:
Jm= Rotational Mass Moment of Inertia (in-lb-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 386.4 in/sec2
Fg = Weight of Load (lb)
k = Radius of Gyration (in)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (in-lbs)
SF = Safety Factor
METRIC UNITS:
Jm= Rotational Mass Moment of Inertia (N-m-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 9.81 m/sec2
Fg = Weight of Load (N)
k = Radius of Gyration (m)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (N-m)
M = Mass = Fg / g (kg)
SF = Safety Factor
Balanced Loads
T = Jm x α ­x SF
Disk
Disk
Mounted on center
Solid Sphere
End mounted on center
Mounted on center
L
k
k
2
Jm = Fg x k
g
2
Fg
1
x
x
g
4
Jm =
LOAD ORIENTATION
( L3 + k )
2
Jm =
2
Rectangular Plate
2 Fg
x x k2
5
g
ROTARIES
k
Rod
Mounted on center
Mounted on center
k dim is
radius
of rod
b
Tg = Rotating Vertically
(with gravity)
a
a
2
2
Jm = Fg x a + b
g
12
T = Rotating Horizontally
(without gravity)
UNBALANCED LOADS
2
2
Jm = Fg x a + 3k
12
g
UNBALANCED LOADS
Tg = [(Jm x α) + [(Fg2 - Fg1) x (a + ( b-a ))]] x SF
2
Tg = [(Jm x α) + (Fg x k)] x SF
Rectangular Plate
Point Load
Rod
Mounted off center
Mounted off center
k dim is
radius
of rod
Fg2
c
Fg2
b
k
Fg
Fg1
b
a
Fg1
a
Fg
Jm =
x k2
g
2
2
2
2
Jm = Fg1 x 4a + c + Fg2 x 4b + c
g
g
12
12
Jm =
(Fg
g1
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
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)(
)
2
2
Fg2 (4b2 + 3k2)
x
x (4a + 3k ) +
g
12
12
195
SIZE08
RL ROTARY ACTUATOR
APPLICATION Example A
Numbers in [ ] are for metric
units and are in mm.
Disk rotating about centerline of unit.
1) Determine load information:
IMPERIALMetric
Rotation ANGLE / Time
180°/.10 sec
180°/.10 sec
Load
Aluminum Disk
Aluminum Disk
Weight
.236 lb
1.05 N
mass
.107 Kg
PRESSURE
87 psi
6 bar
SAFETY FACTOR
2
2
k
k
1.75
[44.45]
b)Using Jm from step 2a and velocity from step 3a, determine KE of the system from the basic KE equation:
IMPERIALMETRIC
KE = 1/2 x Jm x ω2
KE = 1/2 x Jm x ω2
2
KE = .5 x .000234 x 63 KE = .5 x 2.64 x 10-5 x 632
KE = .464 in-lbs
KE = .052 N-m
2­ ) Determine torque requirement for the application:
a)Calculate Rotational Mass Moment of Inertia (Jm) using equations given on page 195.
IMPERIALMETRIC
Fg k2
Jm = g x 2
Fg k2
Jm = g x 2
Jm = .236 lb x (.875 in)
386.4
2
ROTARIES
2
Jm = .000234 in-lb-sec2 Jm =
1.05 N (.0222m)
x
9.81
2
1.00
[25.4]
2
c)Use the KE Energy Table on page 194 to select the appropriate RL actuator. The following units satisfy the requirements. 32 mm plain, 32 mm with shock pads, and a
16, 20, or 25 mm with cushions.
Jm = 2.64 x 10-5 N-m-sec2
b)Determine required acceleration of the load:
rotational angle (deg)
α = .035 x [rotational
time (sec)]2
α = .035 x (.1180°
= 630 rad/sec2
sec)2
c)Calculate required torque:
IMPERIALMETRIC
T = Jm x α x 2
T = Jm x α x SF
T = .000234 x 630 x 2 = .29 in-lbs T = 2.64 x 10-5 x 630 x 2 = .03 N-m
To select minimum actuator based on torque, calculate theoretical
torque for 87 psi [6 bar] by using table on page 193.
3) Determine the stopping capacity of the actuator for the
application:
a)Determine the estimated peak rotational velocity using
Equation A on page 194.
ω = rad/sec = .035 x rotation angle (deg)
rotational time (sec)
ω = .035 x 180° = 63 rad/sec
.1 sec
196
SIZE08
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•
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RL ROTARY ACTUATOR
APPLICATION Example B
Combination of rectangular plate mounted on center and a
point load mounted off center.
1) Determine load information:
6" [152.4] (a)
a)Calculate Rotational Mass Moment of Inertia (Jm) using equations given on page 195.
POINT LOAD
IMPERIALMETRIC
Fg
Fg
Jm = g x k2
Jm = g x k2
1 lb
x (2 in)2
386.4
Jm = .0104 in-lb-sec2
Jm = Jm
=
1lb
[4.45 N]
RECTANGULAR PLATE
IMPERIALMETRIC
T = Jm x α x SF
T = Jm x α x SF
T = .0146 x 25.2 x 2 = .74 in-lbs
T = .00166 x 25.2 x 2 = .084 N-m
Total T = 4.5 + .74 = 5.24 in-lbs
Total T = .51 + .084 = .594 N-m
To select minimum actuator based on torque, calculate theoretical
torque for 87 psi [6 bar] by using table on page 193.
3) Determine the stopping capacity of the actuator for the
application:
Jm = .00117 N-m-sec2
a) Determine the estimated peak rotational velocity using
Equation A on page 194.
2
2
Jm = 7.55 x (.1524) +(.0508)
9.81
12
Jm = .0146 in-lb-sec2
Jm = .00165 N-m-sec2
Total Jm
= .0146+.0104=.025 in-lb-sec2
Total Jm
= .00165+.00117=.00282N-m-sec2
b) Determine required acceleration of the load:
α = .035 x rotational angle (deg)
[time (sec)]2
rotation angle (deg)
ω = .035 x
rotational time (sec)
ω = .035 x 180° = 12.6 rad/sec
.5 sec
b) Using Jm from step 2a and velocity from step 3a, determine KE of the system from the basic KE equation:
IMPERIALMETRIC
KE = 1/2 x Jm x ω2
KE = 1/2 x Jm x ω2
2
KE = .5 x .025 x 12.6 KE = .5 x .00282 x 12.62
KE = 1.98 in-lbs
KE = .224 N-m
c) Use the KE Energy Table on page 194 to select the appropriate RL actuator. The following units satisfy the requirements: 63 mm plain, 50 mm with shock pads, 40 mm
with cushions, and a 25 mm with shock absorbers.
α = .035 x (.5180°
= 25.2 rad/sec2
sec)2
2"
[50.8]
(k)
Jm = 4.45 N x (.0508 m)2
9.81
RECTANGULAR PLATE
IMPERIALMETRIC
Fg a2+b2
Fg a2+b2
Jm =
x
x
g
12
g
12
1.698 x 62+22
386.4
12
2"
[50.8]
(b)
c)Calculate required torque:
POINT LOAD
IMPERIALMETRIC
T = [(Jm x α)+(Fg x k)] x SF
T = [(Jm x α)+(Fg x k)] x 2
T = [(.0140 x 25.2) + (1 x 2)] x 2 T = [(.00117 x 25.2) + (4.45 x .0508)] x 2
T = 4.5 in-lbs
T = .51 N-m
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
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•
(800) 624-8511
197
SIZE08
ROTARIES
IMPERIALMETRIC
Rotation angle / Time 180°/.5 sec
180°/.5 sec
Rectangular plate
Steel Plate
Steel Plate
Weight
1.698 lb
7.55 N
Mass
.77 Kg
Point load
1 lb
4.45 N
(2" off center) (50.8 mm off center)
PRESSURE
87 psi
6 bar
Safety factor
2
2
­
2) Determine torque requirement for the application:
Jm =
Numbers in [ ] are for metric
units and are in mm.
RA
ROTARY ACTUATOR
SPECIFICATIONS
SERIES RA
OPERATING PRESSURE
20 to 150 psi [1.4 to 10 bar]
OPERATING TEMPERATURE
-20° to 180°F [-29° to 82°C]
RATED LIFE
10 million cycles
ROTATIONAL TOLERANCE
Nominal rotation +10° to -45° with angle adjustments
BACKLASH AT END OF ROTATION*
0°
LUBRICATION
Factory lubricated for rated life
MAINTENANCE
Field repairable
NOTE: *Angle adjustment screw must be engaged or adjusted to achieve 0° backlash
SIZE
20
25
32
ROTARIES
40
50
ROTATION
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
45°/90°
135°/180°
225°/270°
THEORETICAL ROTATIONAL mAX AXIAL mAX RADIAL
TORQUE
BASE
BORE
DISPLACEmENT
VELOCITY
BEARING
BEARING
OUTPUT
WEIGHT
DIAmETER VOLUmE/DEG
mAX
LOAD
LOAD
3
3
lb
kg
in mm
lb
N
lb
N
in /° mm /° in-lb/psi Nm/bar deg/sec
1.80 .77
1.80 .77 .787 20
.097
.16
180°/.05
97 431
376 1672
.002 32.77
2.30 1.02
2.40 1.08
2.80 1.24 .984 25
.190
.31
180°/.05
118 524
453 2015
.004 65.55
3.60 1.60
4.30 1.92
4.90 2.19 1.260 32
.415
.68
180°/.05
182 809
640 2846
.007 114.71
6.50 2.94
7.70 3.47
8.80 3.96 1.575 40
.779
1.28
180°/.075
237 1054 746 3318
.014 229.42
11.80 5.31
11.60 5.22
12.80 5.78 1.969 50
1.522
2.49
180°/.075
325 1445 966 4296
.027 442.45
17.70 8.01
CUSHION AND OUTPUT HUB WEIGHTS
BORE
SIZE
20 mm
25 mm
32 mm
40 mm
50 mm
198
SIZE08
ADDER WITH
CUSHION OPTION -DB
lb
kg
.3
.13
.4
.16
.6
.24
.8
.34
1.1
.47
ADDER WITH
HUB OPTION -Q10 OR -Q19
lb
kg
.03
.01
.03
.01
.04
.02
.12
.05
.23
.11
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DISTANCE
BETWEEN
BEARINGS
in mm
1.34 34.0
1.61 40.9
1.94 49.3
2.56 65.0
2.90 73.6
RA ROTARY ACTUATOR
ROTARY ACTUATOR SELECTION
To select the appropriate RA rotary actuator, it is crucial to consider
several factors including bearing capacity, torque requirements and
stopping capacity of the actuator. The bearing capacities are listed
on page 198. To determine the required torque to rotate the load in
a given time, the rotational mass moments of inertia, gravity, time
and acceleration must be taken into account. To stop an actuator, all
of the same required information for torque is needed plus kinetic
energy. Follow the steps below to select the appropriate RA actuator.
3) Determine the stopping capacity of the actuator by using the
equation given below.
2) Determine the torque requirements of the actuator.
a) Determine Mass Moment of Inertia.
Select the illustration from the application types on
the following page that most resembles your specific
application. Several separate calculations may be
necessary to fully describe your application. Using the
appropriate application equation, calculate the mass
moment of inertia for each type of illustration. The total
mass moment of inertia will be the sum of the individual
calculations.
b) Determine the necessary acceleration.
Acceleration (α) =
Acceleration (α) =
KINETIC ENERGY BASIC EQUATION
a) Determine the rotational velocity by using equation A. ROTATIONAL VELOCITY EQUATIONS
EQUATION A
Estimated Peak Velocity (rad/sec)
Uniformly accelerated from rest
2 x (Rotation angle in radians)
rad
sec
(Time of Rotation in Seconds)2
.035 x (Rotation angle in degrees)
(Time of Rotation in Seconds)2
c) Calculate the required torque.
Select the illustration from the application types on
the following page that most resembles your specific
application. Several separate calculations may be
necessary to fully describe your application. Using the
appropriate application equation, calculate the mass
moment of inertia for each type of illustration. The total
torque will be the sum of the individual calculations.
Note: Torque calculations are theoretical, an appropriate
safety factor should be considered. PHD recommends a
minimum safety factor of 2 to account for friction loss,
airline and valve size, and attached accessories.
.035 x Degrees of Rotation
Time of Rotation in seconds
b) Using Jm from step 2a and velocity from step 3a, calculate the kinetic energy of the application.
c) Use the KE Energy Table below to select appropriate
RA actuator.
ROTARIES
1) Review page 198 to make sure RA rotary actuator bearings can
withstand axial and radial bearing loads.
KINETIC ENERGY TABLE
BORE
SIZE
20 mm
25 mm
32 mm
40 mm
50 mm
KE mAX.
PLAIN UNIT
in-lb Nm
.21 .0237
.46 .0519
.96 .1085
1.74 .1966
2.13 .2407
KE mAX.
WITH CUSHION
in-lb Nm
.75 .0848
1.70 .1921
3.60 .4068
6.75 .7628
8.81 .9955
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KE mAX. WITH
SHOCK ABSORBER
in-lb
Nm
3.30 0.373
9.30 1.051
21.30 2.407
45.00 5.084
89.00 10.056
199
SIZE08
RA ROTARY ACTUATOR
IMPERIAL UNITS:
Jm= Rotational Mass Moment of Inertia (in-lb-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 386.4 in/sec2
Fg = Weight of Load (lb)
k = Radius of Gyration (in)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (in-lbs)
SF = Safety Factor
METRIC UNITS:
Jm= Rotational Mass Moment of Inertia (N-m-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 9.81 m/sec2
Fg = Weight of Load (N)
k = Radius of Gyration (m)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (N-m)
M = Mass = Fg / g (kg)
SF = Safety Factor
Balanced Loads
T = Jm x α ­x SF
Disk
Disk
Mounted on center
Solid Sphere
End mounted on center
Mounted on center
L
k
k
k
2
Jm = Fg x k
g
2
Jm =
ROTARIES
LOAD ORIENTATION
Fg
1
x
x
g
4
( L3 + k )
2
Jm =
2
Rectangular Plate
Mounted on center
2 Fg
x x k2
5
g
Rod
k dim is
radius
of rod
Mounted on center
b
Tg = Rotating Vertically
(with gravity)
a
a
2
2
Jm = Fg x a + 3k
12
g
2
2
Jm = Fg x a + b
g
12
T = Rotating Horizontally
(without gravity)
UNBALANCED LOADS
UNBALANCED LOADS
Tg = [(Jm x α) + [(Fg2 - Fg1) x (a + ( b-a ))]] x SF
2
T = Jm x α x SF
Tg = [(Jm x α) + (Fg x k)] x SF
T = Jm x α x SF
Rectangular Plate
Point Load
Mounted off center
Rod
Mounted off center
k dim is
radius
of rod
Fg2
Fg2
c
b
k
Fg
Fg1
b
a
Fg1
a
Fg
Jm =
x k2
g
200
SIZE08
2
2
2
2
Jm = Fg1 x 4a + c + Fg2 x 4b + c
g
g
12
12
Jm =
(Fg
g1
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)(
)
2
2
Fg2 (4b2 + 3k2)
x (4a + 3k ) +
x
g
12
12
RA ROTARY ACTUATOR
APPLICATION Example A
Numbers in [ ] are for metric
units and are in mm.
Disk rotating about centerline of unit.
1) Determine load information:
IMPERIALMetric
Rotation ANGLE / Time
180°/.10 sec
180°/.10 sec
Load
Aluminum Disk
Aluminum Disk
Weight
.236 lb
1.05 N
mass
.107 Kg
PRESSURE
87 psi
6 bar
SAFETY FACTOR
2
2
k
k
1.75
[44.45]
b)Using Jm from step 2a and velocity from step 3a, determine KE of the system from the basic KE equation:
IMPERIALMETRIC
KE = 1/2 x Jm x ω2
KE = 1/2 x Jm x ω 2
2
KE = .5 x .000234 x 63 KE = .5 x 2.64 x 10-5 x 632
KE = .464 in-lbs
KE = .052 N-m
2­ ) Determine torque requirement for the application:
a)Calculate Rotational Mass Moment of Inertia (Jm) using equations given on page 200.
IMPERIALMETRIC
Fg k2
Jm = g x 2
Fg k2
Jm = g x 2
Jm = .236 lb x (.875 in)
386.4
2
2
Jm =
1.05 N (.0222m)
x
9.81
2
1.00
[25.4]
2
c)Use the KE Energy table on page 199 to select the appropriate RA actuator. The following units satisfy the requirements. 32 mm plain and a 25 or 20 mm with cushions.
Jm = 2.64 x 10-5 N-m-sec2
Jm = .000234 in-lb-sec2 rotational angle (deg)
α = .035 x [rotational
time (sec)]2
α = .035 x (.1180°
= 630 rad/sec2
sec)2
ROTARIES
b)Determine required acceleration of the load:
c)Calculate required torque:
IMPERIALMETRIC
T = Jm x α x 2
T = Jm x α x SF
T = .000234 x 630 x 2 = .29 in-lbs T = 2.64 x 10-5 x 630 x 2 = .03 N-m
To select minimum actuator based on torque, calculate theoretical
torque for 87 psi [6 bar] by using table on page 198.
3) Determine the stopping capacity of the actuator for the
application:
a)Determine the estimated peak rotational velocity using
Equation A on page 199.
ω = rad/sec = .035 x rotation angle (deg)
rotational time (sec)
ω = .035 x 180° = 63 rad/sec
.1 sec
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201
SIZE08
RA ROTARY ACTUATOR
APPLICATION Example B
Combination of rectangular plate mounted on center and a point
load mounted off center.
Numbers in [ ] are for metric
units and are in mm.
1) Determine load information:
6" [152.4] (a)
IMPERIALMETRIC
Rotation angle / Time 180°/.5 sec
180°/.5 sec
Rectangular plate
Steel Plate
Steel Plate
Weight
1.698 lb
7.55 N
Mass
.77 Kg
Point load
1 lb
4.45 N
(2" off center) (50.8 mm off center)
PRESSURE
87 psi
6 bar
Safety factor
2
2
­
2) Determine torque requirement for the application:
a)Calculate Rotational Mass Moment of Inertia (Jm) using equations given on page 200.
ROTARIES
POINT LOAD
IMPERIALMETRIC
Fg
Fg
Jm = g x k2
Jm = g x k2
Jm = 1 lb x (2 in)2
386.4
Jm = .0104 in-lb-sec2
2"
[50.8]
(k)
1lb
[4.45 N]
RECTANGULAR PLATE
IMPERIALMETRIC
T = Jm x α x SF
T = Jm x α x SF
T = .0146 x 25.2 x 2 = .74 in-lbs
T = .00166 x 25.2 x 2 = .084 N-m
Total T = 4.5 + .74 = 5.24 in-lbs
Total T = .51 + .084 = .594 N-m
To select minimum actuator based on torque, calculate theoretical
torque for 87 psi [6 bar] by using table on page 198.
4.45 N
Jm =
x (.0508 m)2
9.81
3) Determine the stopping capacity of the actuator for the
application:
Jm = .00117 N-m-sec2
a) Determine the estimated peak rotational velocity using
Equation A on page 199.
RECTANGULAR PLATE
IMPERIALMETRIC
Fg a2+b2
Fg a2+b2
Jm =
x
Jm = g x 12
g
12
2
2
1.698 x 62+22
Jm = 7.55 x (.1524) +(.0508)
Jm
=
9.81
12
386.4
12
Jm = .0146 in-lb-sec2
Jm = .00165 N-m-sec2
Total Jm
= .0146+.0104=.025 in-lb-sec2
Total Jm
= .00165+.00117=.00282N-m-sec2
b) Determine required acceleration of the load:
α = .035 x rotational angle (deg)
[time (sec)]2
rotation angle (deg)
ω = .035 x
rotational time (sec)
ω = .035 x 180° = 12.6 rad/sec
.5 sec
b) Using Jm from step 2a and velocity from step 3a, determine KE of the system from the basic KE equation:
IMPERIALMETRIC
KE = 1/2 x Jm x ω2
KE = 1/2 x Jm x ω2
2
KE = .5 x .025 x 12.6 KE = .5 x .00282 x 12.62 x 4
KE = 1.98 in-lbs
KE = .224 N-m
c) Use the KE Energy Table on page 199 to select the appropriate RA actuator. The following units satisfy the requirements: 50 mm plain, 40 or 32 mm with cushions, and a 25 or 20 mm with shock absorbers.
α = .035 x (.5180°
= 25.2 rad/sec2
sec)2
2"
[50.8]
(b)
c)Calculate required torque:
POINT LOAD
IMPERIALMETRIC
T = [(Jm x α)+(Fg x k)] x SF
T = [(Jm x α)+(Fg x k)] x 2
T = [(.0140 x 25.2) + (1 x 2)] x 2
T = [(.00117 x 25.2) + (4.45 x .0508)] x 2
T = 4.5 in-lbs
T = .51 N-m
202
SIZE08
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•
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Ri
ROTARY ACTUATOR
SPECIFICATIONS
OPERATING PRESSURE
OPERATING TEMPERATURE
RATED LIFE
ROTATIONAL TOLERANCE
BACKLASH AT END OF ROTATION*
LUBRICATION
MAINTENANCE
SERIES RI
20 to 100 psi [1.4 to 6.8 bar]
-20° to 160°F [-29° to 71°C]
5 million cycles
Nominal rotation +13° to -180° with angle adjustment
0°
Factory lubricated for rated life
Field repairable
NOTE: *Angle adjustment screw must be engaged or adjusted to achieve 0° backlash
ROTATION/
SIZE
mID ROT
RISxx25
180°
RIDxx25
180°
3RIDxx25 180°/90°
RISxx32
180°
RIDxx32
180°
3RIDxx32 180°/90°
RISxx50
180°
RIDxx50
180°
3RIDxx50 180°/90°
BASE
WEIGHT
lb
kg
3.0 1.36
3.5 1.59
4.1 1.86
7.6 3.44
8.0 3.63
9.6 4.36
14.3 6.48
15.0 6.80
17.6 7.98
BORE
DISPLACEmENT THEORETICAL
ROTATIONAL
mAX AXIAL
mAX RADIAL
DIAmETER VOLUmE/deg TORQUE OUTPUT VELOCITY mAX BEARING LOAD BEARING LOAD
3
3
in mm
in
cm
in-lb/psi Nm/bar
deg/sec
lb
N
lb
N
.0063
.103
.37
.61
180°/.13
.984 25
.0126
.206
.74
1.21
180°/.23
292 1300
572 2546
.0140
.233
.37
.61
180°/.23
.0118
.193
.73
1.20
180°/.11
1.260 32
.0236
.387
1.45
2.38
180°/.28
511 2275
1206 5365
.0262
.429
.73
1.20
180°/.28
.0415
.680
2.38
3.90
180°/.13
1.969 50
.0830
1.36
4.76
7.80
180°/.28
697 3100
1850 8229
.0923
1.51
2.38
3.90
180°/.28
UNIT
SIZE
RISx25
RIDx25
RISx32
RIDx32
RISx50
RIDx50
NUmBER OF
PASSAGES
4
4
6
6
8
8
FLOW THROUGH
PASSAGES @ 87 psi [6 bar]
CFm
Liter/min
1
28.3
1
28.3
1.3
36.8
1.3
36.8
1.5
42.5
1.5
42.5
CENTER THROUGH HOLE
DIAmETER
in
mm
0.197
5
0.197
5
0.276
7
0.276
7
0.433
11
0.433
11
ROTATION RATE TABLE
BACKLASH SPECIFICATIONS
BACKLASH
UNIT
SIZE
RISxx25
RIDxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
mID
ROTATION REPEATABILITY
+/- (degrees) +/- (degrees)
.26
.26
.23
.23
.21
.21
0.14
0.53
0.42
0.94
0.12
0.35
BACKLASH
REPEATABILITY
THREE POSITION THREE POSITION
UNIT
+/- (degrees)
—
1.25
—
0.65
—
0.40
ROTARIES
mANIFOLD PINION SPECIFICATIONS
UNIT
SIZE
RISxx25
RIDxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
UNIT
+/- (degrees)
—
0.16
—
0.10
—
0.06
ROTATION RATES at 87 psi
(seconds maximum)
SHOCK SPEED
PAD CONTROL SHOCK
0.13
0.18
0.18
0.23
0.41
0.31
0.11
0.11
0.23
0.28
0.30
0.32
0.13
0.22
0.29
0.28
0.40
0.78
(No load conditions)
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•
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203
SIZE08
RI ROTARY ACTUATOR
STEP 1
Determine Rotational Mass Moment of Inertia (Jm)
Select the illustration from the application types on page
207 that most resembles your specific application. Several
separate calculations may be necessary to fully describe
your application. Using the appropriate application equation,
calculate the mass moment of inertia for the type of condition
illustrated. The total mass moment of inertia is the sum of the
individual calculations.
STEP 4
Calculate the Peak Velocity (ω)
This formula estimates the peak velocity of the Series RIx in
operation, and is used to determine the stopping capacity of
the rotary actuator. The solution is given in radians/sec.
STEP 2
Determine Necessary Acceleration (αs)
This equation calculates the acceleration required to move the desired rotation in the desired time. The solution is given in
radians/sec2.
.035 x Rotation Angle in Degrees
(Time of Rotation in Seconds)2
STEP 5
Compare Peak Velocity (ω) to Allowable Impact
Compare your peak velocity to the maximum allowable
velocity for the given Mass Moment of Inertia (Jm) of your
application. The chart is labeled Shock Pad Energy Capacity.
The charts represent the total amount of energy that is able to
be absorbed and provide acceptable motion of the actuator.
Acceptable motion is defined as a maximum of one degree of
motion reversal when the load comes to end of stroke.
Note: You may run slightly higher velocities and loads than
these charts provide and not damage the unit; however, you
may find the motion profile unacceptable. Please contact PHD
if you are considering using the Series RIx actuator outside of
the recommended energy range and shock absorbers are not
a desired option. If the shock pad does not provide enough
stopping capacity for your application, go to the next sizing
section titled “Sizing a RIx Unit with Shocks.”
Average Velocity (deg/sec) = .035 x Rotational Angle in Degrees
Time of Rotation in Seconds
STEP 3
Calculate the Required Starting Torque (TA)
Select the illustration from the application types on page
207 that most resembles your specific application. Several
separate calculations may be necessary to fully describe
your application. Using the appropriate application equation,
calculate the torque for each for each type of condition
illustrated that matches your application. The total torque
will be the sum of the individual calculations. Note: Torque
calculations are theoretical, an appropriate safety factor should
be considered. PHD recommends a minimum safety factor of 2
to account for friction loss, airline and valve size, and attached
accessories.
Starting Torque (in/lb) = TA, TAg
SHOCK PAD ENERGY CAPACITY
12
ALLOWABLE ImPACT VELOCITY (rad/sec)
ROTARIES
SIZING AN RI UNIT WITH
ANGLE ADJUSTMENTS
10
8
50 mm max KE
6
50 mm Acceptable motion
32 mm max
25 mm max & 32 mm Acceptable motion
25 mm Acceptable motion
4
2
0
0
0.5
[.0565]
1.0
[.113]
1.5
[.170]
2.0
[.226]
2.5
[.283]
3.0
[.339]
2
3.5
[.396]
2
mOmENT OF INERTIA (in-lb sec ) [Nms ]
204
SIZE08
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•
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4.0
[.452]
4.5
[.508]
5.0
[.565]
RI ROTARY ACTUATOR
SIZING AN RI UNIT WITH SHOCKS
STEP 6
Compare Peak Velocity (ω) to Allowable Impact
Compare your peak velocity to the maximum allowable velocity for the given Mass Moment of Inertia (Jm) of your
application. The chart is labeled Shock Energy Capacity. The
charts represent the total amount of energy that is able to
be absorbed and provide acceptable motion of the actuator.
Acceptable motion is defined as a maximum of one degree of
motion reversal when the load comes to end of stroke.
Note: You may run slightly higher velocities and loads than
these charts provide and not damage the unit; however, you
may find the motion profile unacceptable. Please contact PHD
if you are considering using the Series RIxxx actuator outside
of the recommended energy and load range.
STEP 7
Calculate the Kinetic Energy (Ke)
This formula calculates the kinetic energy of your application.
This value will be used to calculate the actual total energy to be
compared to the maximum allowable total energy.
STEP 8
Calculate the Propelling Energy (Pe)
These formulas calculate the additional amount of energy that
the shock will experience due to the piston force of the actuator.
SHOCK ENERGY CAPACITY
RIxx25
STEP 9
Calculate the Total Energy (Et)
This formula sums all of the energies that the shock
will experience.
55
50
45
40
RISx25
35
30
Total Energy Et (in/lb [Nm]) = Ke + Pe
25
20
15
RIDx25
10
5
0
0
0.10
[.011]
0.20
[.023]
0.30
[.034]
0.40
[.045]
0.50
[.056]
2
0.60
[.068]
0.70
[.079]
2
moment of Inertia (in-lb-sec ) [Nms ]
RIxx32
Allowable Impact Velocity (rad/sec)
60
55
STEP 11
Calculate Energy per Hour (Eh)
Compare your applications energy per hour requirement
against the charted maximum.
50
45
40
RISx25
35
STEP 10
Compare the Total Energy (Et) to the Maximum Total Energy
(Em) and also Acceptable Motion (Ea)
If Acceptable Motion is desired as defined in STEP 6, the total
energy should be less than both of the charted values given
below. If some additional bounce is acceptable, (Et) can be
up to the same value as (Em). If not, go to a larger actuator or
contact PHD for application assistance.
30
Energy/Hour (in/lb [Nm]) = Cycles/Hour x Et
25
20
15
mAX ALLOWABLE CHART (Em)
RIDx25
10
UNIT
SIZE
RISxx25
RIDxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
5
0
0
0.20 0.40 0.60 0.80 1.00 1.20 1.40 1.60 1.80 2.00
[.023] [.045] [.068] [.090] [.113] [.136] [.158] [.181] [.203] [.226]
Allowable Impact Velocity (rad/sec)
moment of Inertia (in-lb-sec2) [Nms2]
30
28
26
24
22
20
18
16
14
12
10
8
6
4
2
0
RIxx50
ENERGY/HOUR
Nm/Hr
in-lb/Hr
300,000
33,890
300,000
33,890
400,000
45,190
400,000
45,190
600,000
67,791
600,000
67,791
Nm
9.04
13.1
19.8
26.3
65.2
90.8
ACCEPTABLE mOTION CHART (Ea)
RISx50
UNIT
SIZE
RISxx25
RIDxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
RIDx50
0
ET
in-lb
80
116
175
233
577
804
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
[.113] [.226] [.339] [.452] [.565] [.678] [.791] [.904] [1.02]
2
2
moment of Inertia (in-lb-sec ) [Nms ]
in-lb
66
96
154
213
527
754
ET*
Nm
7.46
10.8
17.4
24.1
59.5
85.2
VELOCITY
rad/sec
57.7
24.2
58.5
27.6
28.9
19.7
*Acceptable motion is defined as a maximum of one degree of
motion reversal when the load comes to end of stroke.
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
205
SIZE08
ROTARIES
Allowable Impact Velocity (rad/sec)
60
Pe = Propelling Energy
in-lb
Nm
.3572 x psi .5852 x bar
.7144 x psi 1.170 x bar
.935 x psi 1.5321 x bar
1.471 x psi 2.409 x bar
2.769 x psi 4.538 x bar
5.539 x psi 9.0768 x bar
UNIT
SIZE
RISxx25
RIDxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
RI ROTARY ACTUATOR
determining allowable attached
load weight
Following are the steps required to determine the allowable
attached load weight on the Series RIx rotary actuator. You will
need to know the weight of the attached load, the orientation of
the rotary, and the center of gravity distance of the load from
the hub face. Please refer to the supplied formulas to determine
each of the allowable conditions.
STEP 12
Determine Allowable Attached Load Weight (Lf)
The next step in determining the proper Series RIx actuator
size is to determine the bearing capacity of the unit according
to your application requirements.
STEP 13
Calculate Maximum Actuator Radial Loading (Lm)
This formula calculates the maximum radial loading allowed
for the Series RI actuator based on 5,000,000 cycles and
the axial load (La) that you are placing on the bearings. Note:
Center of Gravity distance is different depending on if the unit
is horizontal or vertical. In horizontal applications, (Cg) is the
distance from the mounting face of the hub to the (Cg) of the
load. In vertical applications, (Cg) is the distance from the
centerline of the hub to (Cg) of the load.
STEP 15
Calculate the Deceleration (αd)
This formula calculates the deceleration of the unit based on
the peak velocity of the individual actuator. The solution is
given in radians/sec2
UNIT SIZE
RIxxx25
RISxx32
RIDxx32
RISxx50
RIDxx50
STEP 16
Calculate Stopping Torque (Td)
This is the stopping torque energy used to stop a rotary load
to your application conditions. This formula is one of the
components required when comparing reaction forces on
the bearing. Using the identical illustrations and formulas on
pages 204 and 207 used when calculating the required starting
torque, replace the acceleration value with the deceleration
value. This is the reaction torque required to stop the load.
PHD recommends a safety factor of 1 to 1.25.
Stopping Torque (in-lb) = TA, TAg
La = Axial Load Weight (lb)
ROTARIES
Cg
Horizontal Orientation (in)
(Cg) = Distance from Face of Hub to
Center of Gravity of Load
Vertical Orientation (in)
(Cg) = Distance from Centerline of Hub
to Center of Gravity of Load
Cg
STEP 17
Calculate Radial Bearing Load At Stopping (LS)
This formula converts the sum torque’s of the propelling torque
and stopping torque into the reaction force on the two bearings.
Radial Bearing Load at Stopping (LS)
UNIT
lb
N
SIZE
(Tp + Td)/.96875 (Tp + Td)/.0246
RIxxx25
(Tp + Td)/1.1667 (Tp + Td)/.0296
RIxxx32
(Tp + Td)/1.5625 (Tp + Td)/.0399
RIxxx50
mAX ACTUATOR RADIAL LOADING (Lm)
UNIT
SIZE
ImPERIAL
mETRIC
RIxxx25 Lm =
-1.4175 (La) + 1106.86
-36.0024 (La) + 125042.4
Lm =
1.933 + Cg
49.1 + Cg
RIxxx32 Lm =
-1.8138 (La) + 3015.57
-46.0702 (La) + 340706.2
Lm =
2.5 + Cg
63.5 + Cg
RIxxx50 Lm =
-2.699 (La) + 6573.92
-68.5696 (La) + 742656
Lm =
3.553 + Cg
90.25 + Cg
STEP 14
Calculate Propelling Torque (Tp)
This formula is one of the components required when
comparing reaction
Propelling Torque (Tp)
UNIT
forces on the
in-lb
Nm
SIZE
bearing. You may
.6047 x bar
RISxx25 .369 x psi
use the formula or
RIDxx25 .737 x psi 1.2077 x bar
simply look up the
RISxx32 .727 x psi 1.1913 x bar
torque produced by
RIDxx32 1.454 x psi 2.3827 x bar
the rotary actuator at RISxx50 2.378 x psi 3.8969 x bar
a specified pressure. RIDxx50 4.755 x psi 7.7921 x bar
206
SIZE08
STEP 18
Calculate Max. Fixed Radial Load (Lf)
This formula will produce the maximum radial load weight that
can be safely attached to the rotary actuator, given the axial
load weight and (Cg) distance of your application.
Max Fixed Radial Load (Lf) = Lm - Ls
STEP 19
Compare (Lf) to Actual Load Affixed to Actuator (Lr)
Compare the (Lf) value to the weight of the attached load. If
the attached load is less than the (Lf) value, the actuator is
correct for your application. If the attached load is greater than
the (Lf) value, go to the next size actuator and rerun the above
calculations until the (Lf) value is greater than the attached load
weight.
Lr = Weight of Attached Load
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
RI ROTARY ACTUATOR
IMPERIAL UNITS:
Jm= Rotational Mass Moment of Inertia (in-lb-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 386.4 in/sec2
Fg = Weight of Load (lb)
k = Radius of Gyration (in)
α = Acceleration (rad/sec2)
t = time (sec)
T = Torque required to rotate load (in-lbs)
SF = Safety Factor
METRIC UNITS:
Jm= Rotational Mass Moment of Inertia (N-m-sec2) (Dependent on physical size of object and weight)
g = Gravitational Constant = 9.81 m/sec2
Fg = Weight of Load (N)
k = Radius of Gyration (m)
2
α = Acceleration (rad/sec )
t = time (sec)
T = Torque required to rotate load (N-m)
M = Mass = Fg / g (kg)
SF = Safety Factor
Balanced Loads
T = Jm x α ­x SF
Disk
Disk
Mounted on center
Solid Sphere
End mounted on center
Mounted on center
L
k
k
2
Jm = Fg x k
g
2
Fg
1
x
x
g
4
Jm =
LOAD ORIENTATION
( L3 + k )
2
Jm =
2
Rectangular Plate
Rod
Mounted on center
Tg = Rotating Vertically
(with gravity)
Mounted on center
k dim is
radius
of rod
b
a
a
UNBALANCED LOADS
UNBALANCED LOADS
Tg = [(Jm x α) + [(Fg2 - Fg1) x (a + ( b-a ))]] x SF
2
Tg = [(Jm x α) + (Fg x k)] x SF
Rectangular Plate
Rod
Mounted off center
Mounted off center
k dim is
radius
of rod
8
Fg2
3
7
2
2
Jm = Fg x a + 3k
12
g
2
2
Jm = Fg x a + b
g
12
T = Rotating Horizontally
(without gravity)
Point Load
4
c
Fg2
b
b
k
Jm =
Fg
Fg
x k2
g
2 Fg
x
x k2
5
g
ROTARIES
k
a
Fg1
a
2
2
2
2
Jm = Fg1 x 4a + c + Fg2 x 4b + c
g
g
12
12
Jm =
(Fg
g1
•
(800) 624-8511
)(
)
2
2
Fg2 (4b2 + 3k2)
x (4a + 3k ) +
x
g
12
12
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
Fg1
207
SIZE08
RI ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 1
Weight = 32.2 lb
Rotation Angle = 180°
Pressure = 87 psi
Orientation = Horizontal
Center of Gravity Distance = 2"
Desired Cycle Rate = .75 sec
Safety Factor: Acceleration = 2
Deceleration = 1
Axial Load (La) = 0
Radial Load (Lr) = 32.2 lb
Cycles per Minute = 40
k
EXAMPLE 1
Determine Required Starting Torque for Application
STEP 1 Determine (Jm)
Fg k2
32.2 32
Jm =
x
=
x
g
2 386.4 2
STEP 8 Calculate Propelling Energy (Pe)
RISx25 = .3572 x psi
Pe = .3572 x 87 = 31.08 in-lb
STEP 9 Calculate Total Energy (Et)
Et = Ke + Pe
Et = 23.52 + 31.08 = 54.60 in-lb
Jm = .0833 x 4.5 = .375 in-lb-sec2
STEP 2 Determine (αA)
Angle Rotation
in Degrees
Time of Rotation
in Seconds2
.035
Ea ≥ Et
180
= 11.2 rad/sec2
(.75)2
.035
ROTARIES
STEP 10 Compare Maximum Total Energy (Em) to Total Energy (Et)
and Acceptable Motion Energy to Total Energy
Em ≥ Et 80 ≥ 54.60
SHOCKS WILL PERFORM AS DESIRED
STEP 3 Starting Torque
STEP 11 Calculate Energy per Hour (Eh)
T=
T = .375 x 11.2 x 2 = 8.4 in-lb
RISxx25 Will Produce Sufficient Torque
Check for Stopping Capacity
STEP 4 Calculate Peak Velocity (ω)
RISxx25
.035 x
Cycles/Hr = Cycles/min x 60
Cycles/Hr = 40 x 60 = 2400
Eh = 2400 x 54.60 in-lb = 131,040 in-lb/hr
300,000 ≥ 131,040
(refer to page 204)
180
= 11.2 rad/sec
.75
STEP 5 Compare to Graph (refer to page 204)
SHOCK PAD WILL NOT PERFORM AS DESIRED
This velocity is greater than the shock
pad allows, go to the section labeled
“Sizing an RIx Unit with Shocks”
STEP 6 Compare Peak Velocity to Allowable Impact Velocity for a given (Jm) Load using Shock Absorbers
Compare to graph on page 205.
RISx is acceptable for this application.
66 ≥ 54.60
STEP 12 Calculate Allowable Attached Load Weight
Axial Load from Application = La
La = 0
STEP 13 Calculate Max Actuator Radial Loading (Lm)
Determine Cg Distance = 2"
-1.4175 (La) + 1106.86
Lm =
1.933 + Cg
Lm = 281.43 lb
STEP 14 Calculate Propelling Torque (Tp)
Tp = .369 x psi
Tp = .369 x 87 psi = 32.103 in-lb
STEP 15 Calculate Deceleration (αd)
STEP 7 Calculate Kinetic Energy (Ke)
Ke = 1/2 x (.375) x (11.2)2 = 23.52 in-lb
208
SIZE08
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
RI ROTARY ACTUATOR
EXAMPLE 1 CONT.
STEP 16 Calculate Stopping Torque (Td) (from STEP 16 on
page 206)
Td = .375 x 71.68 x 1 = 26.88
Td = 26.88
STEP 17 Calculate Radial Bearing Load at Stopping (Ls)
(from chart on page 206)
Ls = (Tp + Td)/.96875
Ls = (32.103 + 26.88)/.96875
Ls = 60.9 lb
STEP 18 Calculate Max Fix Radial Load (Lf)
Lf = Lm - Ls
Lf = 281.43 - 60.9
Lf = 220.53
STEP 19 Compare Max Fix Radial Load (Lf) to Actual Load
Affixed to Actuator (Lr)
Lf ≥ Lr
220.53 ≥ 32.2 lb
RISxx25 FITS THIS APPLICATION
ROTARIES
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
209
SIZE08
RI ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 2
Weight = 15 lb mounting plate & two - 8 lb grippers
Rotation Angle = 180°
Pressure = 65 psi
Orientation = Vertical (grippers facing down)
Center of Gravity Distance = 10"
Desired Cycle Rate = 1.25 sec
Safety Factor: Acceleration = 2
Deceleration = 1
Cycles per Minute = 20 cyc/min = 1200 cyc/hr
Axial Load (La) = 31 lb
Radial Load (Lr) = 0
gripper
24"
4"
10"
NOTE: Picture rotated
up for clarity.
gripper
mounting
plate
EXAMPLE 2
Determine Required Starting Torque for Application
STEP 1 Determine (Jm)
for Mounting Plate
STEP 6 Compare Peak Velocity to Allowable Impact Velocity for a given (Jm) Load using Shock Absorbers
Compare to graph on page 205.
RIDxx32 is not acceptable for this application.
Use larger size RISxx50 for this application.
a2 + b2
12
15
(24)2 + (4)2
x
Jm =
12
386.4
Jm =
Fg
x
g
STEP 7 Calculate Kinetic Energy (Ke)
Ke = 1/2 x Jm x ω2
Ke = 1/2 (6.056) x (5.04)2 = 76.9 in-lb
Jm = .0388198 x 49.333
Jm = 1.9151 in-lb-sec2
ROTARIES
Jm for 2 Point Loads (Gripper)
Jm =
Fg
g
x k2
8
x 102 = 2.0704 in-lb-sec2
386.4
STEP 8 Calculate Propelling Energy (Pe)
RISx50 = 2.769 x psi
Pe = 2.769 x (65 psi) = 179.99 in-lb
STEP 9 Calculate Total Energy (Et)
Et = Ke + Pe
Et = 76.9 + 179.99 = 256.88 in-lb
Total Jm = 1.9151 + 2(2.0704)
Jm = 6.056 in-lb-sec2
STEP 2 Determine (αA)
.035
180
(1.25)2
Em ≥ Et
Ea ≥ Et
= 4.032 rad/sec2
STEP 11 Calculate Energy per Hour (Eh)
TA = 6.056 x 4.032 x 2
Cycles/Hr = Cycles/min x 60
Cycles/Hr = 20 x 60 = 1200
TA = 48.836 in-lb
Check for Stopping Capacity
STEP 4 Calculate Peak Velocity (ω)
RIDxx32
210
SIZE08
Eh = 1200 x 172.5 in-lb = 207,018 in-lb/Hr
RIDxx32 Will Produce Sufficient Torque
.035 x
577 ≥ 256.9
527 ≥ 256.9
SHOCK WILL PERFORM AS DESIRED
STEP 3 Starting Torque
TA =
STEP 10 Compare Max. Total Energy (Em) to Total Energy (Et)
180
= 5.04 rad/sec
1.25
207,018 ≤ 600,000
STEP 12 Calculate Allowable Attached Load Weight
Axial Load Weight = 31 lb = (La)
STEP 13 Calculate Max Actuator Radial Loading (Lm)
Determine Cg Distance = 10"
STEP 5 Compare Peak Velocity to Allowable Impact Graph
(page 204)
This velocity is in the range of shock pads
but not with the attached load Jm of 6.055.
Go to “Sizing an RIxx Unit with Shocks”
Lm =
Lm =
-2.699 (La) + 6573.92
3.553 + Cg
-2.699 (31) + 6573.92
= 478.90 lb
3.553 + 10
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
RI ROTARY ACTUATOR
EXAMPLE 2 CONT.
STEP 14 Calculate Propelling Torque (Tp)
RISx50 =
Tp = 2.378 x psi
Tp = 2.378 x 65 psi = 154.57 in-lb
STEP 15 Calculate Deceleration (αd)
2.45
2.45
10.368 rad/sec2
STEP 16 Calculate Stopping Torque (Td) (from STEP 16 on
page 206)
Td = 6.056 x 10.368 x 1
Td = 62.79 in-lb
STEP 17 Calculate Radial Bearing Load at Stopping (Ls) (refer to chart on page 206)
Ls = (Tp + Td)/1.5625
Ls = (154.57 + 62.79) / 1.5625
Ls = 217.36/1.5625
Ls = 139.11 lb
STEP 18 Calculate Max Fix Radial Load (Lf)
ROTARIES
Lf = Lm - Ls
Lf = 478.90 - 139.11
Lf = 339.76 lb
STEP 19 Compare Max Fix Radial Load (Lf) to Actual Load
Affixed to Actuator (Lr)
Lf ≥ Lr
339.76 lb ≥ 31 lb
RISxx50 FITS THIS APPLICATION
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
211
SIZE08
1000-8000
ROTARY ACTUATOR
SPECIFICATIONS
SERIES 1000-8000
PNEUMATIC OPERATING PRESSURE
20 to 150 psi [1.4 to 10 bar]
HYDRAULIC OPERATING PRESSURE**
40 to 1500 psi [2.8 to 103 bar]
OPERATING TEMPERATURE
-20° to 180°F [-29° to 82°C]
ROTATIONAL TOLERANCE
Nominal rotation +10° to -0°
BACKLASH AT ANY MID-ROTATION POINT AND
1° (2000), 0°30' (4000, 6000), 0°15' (8000)
AT END OF ROTATION WITHOUT -A (DOUBLE RACK)
BACKLASH AT END OF ROTATION WITH -A* (DOUBLE RACK)
0° (2000, 4000, 6000, 8000)
BACKLASH ON ALL SINGLE RACK UNITS
1° (1000), 0°30' (3000, 5000), 0° 15' (7000)
(END AND ANY MID-ROTATION)
LUBRICATION
Factory lubricated for rated life
MAINTENANCE
Field repairable
NOTE: *-A angle adjustment screw must be engaged or adjusted to achieve 0° backlash
ROTARIES
SIZE
1(000)
2(000)
3(000)
4(000)
5(000)
6(000)
7(000)
8(000)
HYD
SERIES
1000
2000
3000
4000
5000
6000
7000
8000
WEIGHT
BASE
ADDER
lb kg
lb/° kg/°
2.3 1.0 .0022 .0010
3.3 1.5 .0043 .0020
6.9 3.1 .0064 .0029
9.7 4.4 .0127 .0058
10.7 4.8 .0093 .0042
15.7 7.1 .0185 .0084
34.4 15.6 .0289 .0131
42.2 19.1 .0578 .0262
PLAIN
— —
1000 [69]
— —
— —
— —
— —
— —
— —
BORE
DISPLACEmENT THEORETICAL
DIAmETER VOLUmE/DEG TORQUE OUTPUT
in
mm in3/° cm3/° in-lb/psi Nm/bar
1.000 25.4 .007 .115
.39
.64
1.000 25.4 .014 .229
.78
1.28
1.375 34.9 .019 .312
1.11
1.21
1.375 34.9 .038 .623
2.22
3.64
2.000 50.8 .041 .672
2.36
3.87
2.000 50.8 .082 1.344
4.72
7.74
3.000 76.2 .185 3.032
10.60
17.37
3.000 76.2 .370 6.064
21.20
34.75
OPTION psi [bar]
-P
-D
— —
— —
750 [52]
750 [52]
— —
— —
750 [52]
750 [52]
— —
— —
750 [52]
750 [52]
— —
— —
750 [52]
750 [52]
-E OR -m
— —
— —
— —
— —
750 [52]
750 [52]
500 [35]
500 [35]
mAX AXIAL
BEARING
LOAD
lb
N
120 534
mAX RADIAL
DISTANCE
BEARING BETWEEN SHAFT
LOAD
BEARINGS
lb
N
in
mm
300 1334
1.375 34.9
240 1068
600
2669
2.188
55.6
370 1646
925
4114
2.235
56.8
800 3558 2000 8896
3.750
95.3
PRESSURE RATINGS FOR OPTIONS
All pneumatic rotary actuators have a maximum pressure rating
of 150 psi [10 bar] air. Most hydraulic rotary actuators have a
maximum pressure rating of 1500 psi [100 bar], except as noted in
the chart.
Minimum factor of safety at maximum rated hydraulic pressure
for output shaft is 2:1, and for hydraulic chambers is 3:1. Consult
PHD for proof pressure data. Hydraulic ratings based on non-shock,
hydraulic service.
NOTE: **All hydraulic ratings are based on non-shock hydraulic service.
212
SIZE08
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
1000-8000 ROTARY ACTUATOR
WEIGHT TABLE - SINGLE SHAFT EXTENSION ACTUATORS
45°
1000
2000
3000
4000
5000
6000
7000
8000
POWER
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
pneumatic
hydraulic
lb
2.4
2.6
3.5
3.7
7.2
7.4
10.2
10.8
11.1
12.5
16.6
19.2
35.7
40
44.8
53.4
kg
1.09
1.18
1.59
1.68
3.27
3.36
4.63
4.90
5.03
5.67
7.53
8.71
16.19
18.14
20.32
24.22
lb
2.5
2.7
3.6
3.9
7.5
7.8
10.8
11.4
11.5
13.2
17.4
20.7
37
42.2
47.4
57.8
kg
1.13
1.22
1.63
1.77
3.40
3.54
4.90
5.17
5.22
5.99
7.89
9.39
16.78
19.14
21.50
26.22
180°
lb
2.7
2.9
4
4.4
8.1
8.5
12
12.8
12.4
14.6
19.1
23.6
39.6
46.5
52.6
66.4
kg
1.22
1.32
1.81
2.00
3.67
3.86
5.44
5.81
5.62
6.62
8.66
10.70
17.96
21.09
23.86
30.12
270°
lb
2.9
3.1
4.4
4.8
8.6
9.2
13.1
14.2
13.2
16.1
20.7
26.5
42.2
50.9
57.8
75.1
360°
kg
1.32
1.41
2.00
2.18
3.90
4.17
5.94
6.44
5.99
7.30
9.39
12.02
19.14
23.09
26.22
34.06
lb
3.1
3.4
4.8
5.3
9.2
9.9
14.2
15.6
14
17.5
22.4
29.4
44.8
55.2
63
83.7
kg
1.41
1.54
2.18
2.40
4.17
4.49
6.44
7.08
6.35
7.94
10.16
13.34
20.32
25.04
28.58
37.97
450°
lb
3.3
3.6
5.2
5.8
9.8
10.5
15.4
17
14.9
19
24.1
32.3
47.4
59.5
68.2
92.4
kg
1.50
1.63
2.36
2.63
4.45
4.76
6.99
7.71
6.76
8.62
10.93
14.65
21.50
26.99
30.93
41.91
per 90°
lb
0.20
0.23
0.39
0.47
0.58
0.69
1.14
1.39
0.84
1.44
1.67
2.91
2.60
4.34
5.20
8.66
kg
0.09
0.10
0.18
0.21
0.26
0.31
0.52
0.63
0.38
0.65
0.76
1.32
1.18
1.97
2.36
3.93
Adder for
Double
lb
kg
0.06 0.03
0.06 0.03
0.06 0.03
0.06 0.03
0.38 0.17
0.38 0.17
0.38 0.17
0.38 0.17
0.5 0.23
0.5 0.23
0.5 0.23
0.5 0.23
2.4 1.09
2.4 1.09
2.4 1.09
2.4 1.09
KINETIC ENERGY TABLE
UNIT
RxxA1
RxxA2
RxxA3
RxxA4
RxxA5
RxxA6
RxxA7
RxxA8
KE mAX.
PLAIN UNIT
in-lb Nm
2.02 0.23
2.02 0.23
5.78 0.65
5.78 0.65
6.58 0.74
6.58 0.74
17.63 1.99
17.63 1.99
KE mAX. WITH
SHOCK PAD
in-lb Nm
3.5 0.40
3.5 0.40
10 1.14
10 1.14
11.5 1.30
11.5 1.30
31 3.49
31 3.49
KE mAX. WITH
CUSHION
in-lb Nm
8.07 0.91
8.07 0.91
23.13 2.61
23.13 2.61
26.32 2.97
26.32 2.97
70.53 7.97
70.53 7.97
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
ROTARIES
SERIES
90°
(800) 624-8511
213
SIZE08
2000-8000
air/oil tandem ROTARY ACTUATOR
SPECIFICATIONS
PNEUMATIC OPERATING PRESSURE
OPERATING TEMPERATURE
FULL (TOTAL) ROTATIONAL TOLERANCE
MID-ROTATIONAL TOLERANCES (3-POSITION UNIT)
BACKLASH
AT ANY MID-ROTATION POINT AND AT
END OF ROTATION WITHOUT -A OPTION
AT END OF ROTATION WITH -A OPTION*
(DOUBLE RACK)
AT MID-POSITION LOCATION (3 POSITION UNIT)
LUBRICATION
MAINTENANCE
TANDEm SERIES 2000-8000
20 to 150 psi [1.4 to 10 bar]
-20° to 180°F [-29° to 82°C]
Nominal rotation +10°/-0°
(see chart below for mid-position tolerance)
1° (2000), 0° 30' (4000, 6000) 0° 15' (8000)
0° (2000, 4000, 6000, 8000)
(see chart below for mid-position backlash)
Factory lubricated for rated life
Field repairable
NOTE: *Angle adjustment screw must be engaged or adjusted to achieve 0° backlash. (-A standard on 3-position units)
ROTARIES
SIZE
2(000)
4(000)
6(000)
8(000)
WEIGHT
BASE
ADDER
lb/° kg/°
kg
lb
4.5 2.0 .0059 .0027
11.5 5.2 .0161 .0073
18.1 8.2 .0244 .0111
41.0 18.6 .0581 .0264
THEORETICAL
BORE
DISPLACEmENT
mAX SPEED
TORQUE
DIAmETER VOLUmE/DEG
AT 80 psi
OUTPUT
3
in mm
in3/° cm /° in-lb/psi Nm/bar deg/sec
1.000 25.4
.39
.64
366°
.007 .115
1.375 34.9
1.11
1.82
348°
.019 .312
2.000 50.8
2.36
3.87
216°
.041 .672
3.000 76.2
10.60
17.37
156°
.185 3.032
A
mAX AXIAL mAX RADIAL
BEARING
BEARING
LOAD
LOAD
lb
N
lb
N
120 534 300
1334
240 1068 600
2669
370 1646 925
4114
800 3558 2000 8896
DISTANCE
BETWEEN SHAFT
BEARINGS
mm
in
1.375 34.9
2.188 55.6
2.235 56.8
3.750 95.3
3-POSITION mID-POSITION
TOLERANCES & BACKLASH
SERIES
2000
4000 & 6000
8000
B
OPERATING PRINCIPLE
TOLERANCE
±1°
±0°30'
±0°15'
BACKLASH
1°30'
1°15'
1°
This feature is available on Series 2000, 4000, 6000, and 8000.
One end functions as a control member only, reducing the effective
output torque to match 1000, 3000, 5000, and 7000 respectively.
The illustration shows a tandem actuator with built-in Port
Controls®, crossover manifold and oil reservoir. The latter serves
as an accumulator to compensate for oil volume changes due to
temperature variation.
NOTE: The reservoir should have 20 psi [1.4 bar] pressure at
all times to ensure the system remains purged.
WEIGHT TABLE - SINGLE SHAFT EXTENSION ACTUATORS
45°
SERIES
2000
4000
6000
8000
214
SIZE08
lb
4.7
12.2
19.2
44.7
90°
kg
2.13
5.53
8.71
20.28
lb
5
12.9
20.3
47.3
180°
kg
2.27
5.85
9.21
21.45
lb
5.5
14.4
22.5
52.5
kg
2.49
6.53
10.21
23.81
270°
lb
6.1
15.8
24.7
57.8
360°
kg
2.77
7.17
11.20
26.22
lb
kg
6.6 2.99
17.3 7.85
26.9 12.20
63 28.58
450°
lb
7.1
18.7
29.1
68.2
kg
3.22
8.48
13.20
30.93
per 90°
lb
0.53
1.45
2.20
5.23
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
kg
0.24
0.66
1.00
2.37
Adder for
Double
lb
kg
0.06 0.03
0.38 0.17
0.5 0.23
2.4 1.09
2000-8000
multi-position ROTARY ACTUATOR
SPECIFICATIONS
mULTI-POSITION SERIES 2000-8000
PNEUMATIC OPERATING PRESSURE
20 to 150 psi [1.4 to 10 bar]
HYDRAULIC OPERATING PRESSURE**
40 to 1500 psi [2.8 to 103 bar] (see option table below)
OPERATING TEMPERATURE
-20° to 180° F [-29° to 82° C]
FULL (TOTAL) ROTATIONAL TOLERANCE
Nominal rotation +10°/-0°
MID-POSITION ROTATIONAL TOLERANCES (ALL MID-POSITIONS 2, 3, 4)
(see chart below for mid-position tolerance)
BACKLASH
AT ANY MID-ROTATION POINT, ALL UNITS AND 4 POSITION,
1° (2000), 0° 30' (4000, 6000), 0° 15' (8000)
END OF ROTATIONS
AT END OF ROTATIONS ON 3 AND 5 POSITIONS*
0° (2000, 4000, 6000, 8000)
AT MID-POSITION LOCATIONS (ALL MID-POSITIONS 2, 3, 4)
(see chart below for mid-position backlash)
LUBRICATION
Factory lubricated for rated life
MAINTENANCE
Field repairable
NOTE: *Angle adjustment screw must be engaged or adjusted to achieve 0° backlash.
PRESSURE RATINGS FOR OPTIONS
All pneumatic rotary actuators have a maximum pressure
rating of 150 psi [10 bar] air. Most hydraulic rotary actuators have a
maximum pressure rating of 1500 psi [100 bar], except as noted in
chart below.
HYD
SERIES
2000
4000
6000
8000
OPTION psi [bar]
-D
-E OR -m
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
750 [52]
–
–
–
–
500 [35]
NOTE: **All hydraulic ratings are based on
non-shock hydraulic service.
mAX AXIAL
BEARING LOAD
N
lb
120 534
240 1068
370 1646
800 3558
mAX RADIAL DISTANCE BETWEEN
BEARING LOAD SHAFT BEARINGS
mm
in
N
lb
1.375 34.9
1334
300
2.188 55.6
2669
600
2.235 56.8
4114
925
3.750 95.3
2000 8896
ROTARIES
SIZE
2000
4000
6000
8000
BORE
DISPLACEmENT
THEORETICAL
DIAmETER VOLUmE/DEG TORQUE OUTPUT
in mm
in-lb/psi Nm/bar
in3/°
cm3/°
.64
1.000 25.4
.39
.014
.229
1.82
1.375 34.9
1.11
.038
.623
3.87
2.000 50.8
2.36
.082 13.44
17.37
3.000 76.2
10.60
.370
6.06
Minimum factor of safety at maximum rated hydraulic pressure
for output shaft is 2:1, and for hydraulic chambers is 3:1. Consult
PHD for proof of pressure data. All ratings based on non-shock
hydraulic service and with full rotation tubes not being double
powered.
BACKLASH & INTERMEDIATE
POSITION TOLERANCES
-P
SERIES
2000
4000 & 6000
8000
ROTATIONAL
TOLERANCE***
±1°
±0° 30'
±0° 15'
BACKLASH
1° 30'
1° 15'
1°
***Rotational position from one intermediate position to
another (measured at centers of backlash).
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
215
SIZE08
PLUMBING SCHEMATICS: ROTARY ACTUATORS
CAUTION:
Rotary actuators require back
pressure in opposite ports before
rotating from one position to
another. Lack of back pressure
or governing media causes
uncontrolled angular velocity and
improper function of cushions and
port controls.
3 POSITION UNITS
SERIES 2000-8000
Review the following for typical
valve sequencing for controlling
standard multi-position actuators.
(Disregard for tandem units.)
Starting at full CW position (port A
pressurized):
3 POSITION UNITS:
C2
C1
E
A
S2
S1
• Rotate from CW to CCW (S3
valve is activated). Energize S1
and S2 valves, then de-energize
S2 and S3 valves. Unit will rotate
to full CCW position.
PORTS PRESSURIZED
C1 & C2
��
ROTARIES
• Rotate from CCW to CW (S1
valve is activated). Energize S2
and S3 valves, then de-energize
S2 and S1 valves. Unit will rotate
to full CW position.
• Rotate from CW to mid-position
(S3 valve is activated). Energize
S1 and S2 valves, then deenergize S1 and S3 valves. Unit
will rotate to mid-position.
S3
T�
I�
PORT PRESSURIZED - E
FULL CCW POSITION
R�
�
���
PORT PRESSURIZED - A
FULL CW POSITION
3 POSITION TANDEM UNITS
SERIES 2000-8000
• Rotate from mid-position to
full CCW (S2 valve is activated).
Energize S1 and S3 valves, then
de-energize S2 and S3. Unit will
rotate to full CCW.
D1
C2
4 POSITION UNITS (same as
above plus):
• Rotate from CCW to intermediate
position II. (S1 valve is
activated). Energize S2, S3, and
S4 valves, then de-energize S1,
S2, and S3. Unit will rotate to
intermediate position II.
D2
E
S2
S1
S3
5 POSITION UNITS (same as
above plus):
• Rotate from CCW to intermediate
position IV. (S1 valve is
activated). Energize S2, S3, and
S5 valves, then de-energize S1,
S2, and S3. Unit will rotate to
intermediate position IV.
PORTS PRESSURIZED
D1 & D2
��
T�
PORT PRESSURIZED - E
FULL CCW POSITION
216
SIZE08
J�
K�
�
���
PORT PRESSURIZED - C2
FULL CW POSITION
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
PLUMBING SCHEMATICS: ROTARY ACTUATORS
4 POSITION UNITS
SERIES 2000-8000
D1
D2
S2
C2
C1
E
A
S4
S1
PORTS PRESSURIZED
D1 & D2
T�
��
���
K�
PORTS PRESSURIZED
C1 & C2
I�
J�
PORT PRESSURIZED - E
FULL CCW POSITION
S3
R�
�
��
PORT PRESSURIZED - A
FULL CW POSITION
ROTARIES
5 POSITION UNITS
SERIES 2000-8000
D1
D2
C2
C1
E
A
S4
S1
B1
B2
S3
S2
S5
PORTS PRESSURIZED
C1 & C2
���
PORTS PRESSURIZED
D1 & D2
T�
��
��
PORTS PRESSURIZED
B1 & B2
P�
R�
I�
K�
PORT PRESSURIZED - E
FULL CCW POSITION
�
N�
�
J�
PORT PRESSURIZED - A
FULL CW POSITION
See Productivity Solutions (CAT-08) for ordering, dimensional, and options data.
www.phdinc.com/apps/sizing
•
(800) 624-8511
217
SIZE08