Series 1000-8000
NEW!
Pages 3C-8 to 3C-12
Air/Oil Tandem
Pages 3C-13 to 3C-19
-INDEX
SERIES RI Multi-Position
ROTARY ACTUATORS Pages 3C-20 to 3C-28
Engineering Data
Pages 3C-29 to 3C-31
Start-up Procedure
Pages 3C-34
Options
Pages 3C-35 to 3C-40
Series RI
SERIES 2000-8000 Pages 3D-1 to 3D-26
AIR/OIL TANDEM
Series RF
Pages 3D-27 to 3D-43
SERIES 2000-8000
MULTI-POSITION
ROTARY ACTUATORS
1000-8000 MULTI-POSITION
ACTUATORS
MINIATURE
SERIES RA SERIES RL ROTARY
ROTARY ACTUATORS ROTARY ACTUATORS ACTUATORS
3-i
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/products/rotaryactuators
ROTARY ACTUATORS
SERIES RL ROTARY ACTUATORS
Sizes: 8
Operating Media: Pneumatic, 150 psi [10 bar] maximum
Maximum Torque Output: 4.4 to 544 in-lb [.49 to 61.5 Nm]
Sizes: 5
Operating Media: Pneumatic, 150 psi [10 bar] maximum
Maximum Torque Output: 14 to 228 in-lb [1.6 to 25.8 Nm]
Sizes: 2
Operating Media: Pneumatic, 150 psi [10 bar] maximum
Maximum Torque Output: 9.75 to 33 in-lb [1.1 to 3.7 Nm]
ROTARY ACTUATORS
SERIES 1000-8000
Sizes: 8
Operating Media: Pneumatic, 150 psi [10 bar] maximum,
Hydraulic, 1500 psi [100 bar] maximum
Maximum Torque Output: 57 to 31,800 in-lb [6.4 to 3595 Nm]
3-ii
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/products/rotaryactuators CAT-03 INDUSTRIAL AUTOMATION
AIR/OIL TANDEM ROTARY ACTUATORS
SERIES 2000-8000
Sizes: 4
Operating Media: Pneumatic, 150 psi [10 bar] maximum
Maximum Torque Output: 57 to 1,590 in-lb [6.4 to 179.8 Nm]
-INDEX
MULTI-POSITION ROTARY ACTUATORS
SERIES 2000-8000
Sizes: 4
Operating Media: Pneumatic, 150 psi [10 bar] maximum,
Hydraulic, 1500 psi [100 bar] maximum
Maximum Torque Output: Ranges from 57 to 15,900 in-lb
[6.4 to 1797.9 Nm]
Sizes: 3
Operating Media: Pneumatic, 100 psi [7 bar] maximum
Maximum Torque Output: Ranges from 32 to 414 in-lb at 87psi
[3.6 to 46.8 Nm at 6 bar]
NEW!
racks and a one-piece pinion/output hub providing durability and
long life.
Sizes: 3
Operating Media: Pneumatic, 100 psi [7 bar] maximum
Maximum Torque Output: Ranges from 7 to 67 in-lb at 100 psi [0.8
to 7.7 Nm at 7 bar]
3-iii
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/products/rotaryactuators
INDEX:
ROTARY ACTUATORS Ordering Data
Page 3A-2
SERIES RL
Benefits
Page 3A-3
Dimensions
Pages 3A-4 and 3A-5
Low Cost, High Torque, Compact Size
Engineering Data
Pages 3A-6 and 3A-7
Options
Pages 3A-8 to 3A-12
Accessories
3A
Page 3A-13
Rotary Actuator
Selection
Pages 3A-14 to 3A-15
Application Example
Page 3A-16 to 3A-17
3A-1
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rl
3A
3A-2
SWITCH READY MISCELLANEOUS
TO ORDER SPECIFY:
E - Hall Effect magnets for GX - Mounting holes in Positions 3 & 4
Product, Series, Type, Design No., SHOCK ABSORBER
BORE SIZE Series 5360 Switch (Positions 2 & 3 standard)
www.phdinc.com/rl
(800) 624-8511
Bore Size, Angle of Rotation,
12 mm NB - Shock both directions I - Magnetoresistive Q13 - Double shaft extension
and Options.
16 mm NC - Shock counterclockwise magnets for Series U4 - Port Position 2
20 mm NW - Shock clockwise 5360 Switch U6 - Port Position 3
PRODUCT
25 mm GS - Shock ready both directions M- Reed magnets for Series U8 - Port Position 4
R - Rotary Actuator GT - Shock ready counterclockwise 5360 Switch
32 mm -U options apply only to caps with angle
40 mm GU - Shock ready clockwise Switches must be ordered adjustment or shock absorber options.
TYPE 50 mm Shock absorber options not available separately. See notes Port Positions on all other caps are in
S - 150 psi [10 bar] Air Max. 63 mm on 12 mm, 16 mm, and 20 mm units. 2, 3, and page 3A-10. Position 5.
R L S 1 40 x 180 - NC - BW - AW - E - Q13
CAT-03
SERIES DESIGN NO. ANGLE OF ROTATION CUSHION CONTROL ANGLE ADJUSTMENT
L - Medium Duty 1 - Imperial 45°, 90°, 135°, 180°, DB - Cushion both directions AB - 45° Angle Adjustment both directions
5 - Metric 225°, 270° DC - Cushion counterclockwise AC - 45° Angle Adjustment counterclockwise
DW- Cushion clockwise AW- 45° Angle Adjustment clockwise
NOTES: BB - Shock Pad both directions
1) Shock pad and/or angle adjustment options not available in BC - Shock Pad counterclockwise SHOCK ABSORBER CHART
the same direction with cushion or shock absorber options. BW - Shock Pad clockwise BORE PHD SHOCK
2) -E option not available on 12 mm and 16 mm units. Cushions and shock pads not SIZE ABSORBER NO.
3) -M option not available on 12 mm units and a minimum of available on same end of actuator. 25 mm 60335-04
90° of rotation required on 16 mm units. Shock pad options not available 32 mm 60335-05
4) For keyless hub adaptor kits, see page 3A-13.
ORDERING DATA: SERIES RL ROTARY ACTUATORS
on 12 mm units. 40 mm 60335-06
50 mm 60335-06
63 mm 60335-07
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
BENEFITS: SERIES RL ROTARY ACTUATORS
BENEFITS
■ Series RL Rotary Actuators are available in 8 sizes and
6 standard rotations with torques ranging up to 360 in-lb at
100 psi [41 Nm at 7 bar] to suit a wide range of applications.
3A
■ The high-strength alloy steel rack and one-piece pinion shaft
are designed and tested to operate for a minimum of 5 million
maintenance-free cycles. SPECIFICATIONS 12 mm-63 mm
PISTON SEALS One Block Vee per Piston
■ Series RL Rotary Actuators are available in both imperial and PISTONS Free Floating, Acetal
metric versions for worldwide markets. PINION SHAFTS One Piece Alloy Steel
RACKS Alloy Steel
■ Optional built-in adjustable cushions reduce shock at end of END CAPS Clear Anodized Aluminum
rotation and increase load stopping capacity. BODY Hardcoated Aluminum
BEARINGS Two Steel Ball Bearings
■ Optional 45° angle adjustments make it easy to adjust to
specific rotation requirements. This provides a total range of PORTS NPT [BSP]
actuator rotations from 0° to 270°. BREAKAWAY PRESSURE 5 psi [0.35 bar]
LUBRICATION Permanent for Non-Lube Air
■ Optional built-in hydraulic shock absorbers provide smooth WORKING PRESSURE 150 psi [10 bar] Air Max.
deceleration of attached loads. STANDARD ROTATIONS 45°, 90°, 135°, 180°, 225°, 270°
OPTIONS Cushions, Shock Pads,
■ Optional keyless hub adaptors available for easy and secure Shock Absorber,
mounting of interface components to the actuator output shaft. Magnets for Proximity Switches,
These adaptors allow precise angular positioning of mounted
Angle Adjustments, Mounting Surface,
devices at any required angle.
Double Pinion Shaft
■ PHD Miniature Proximity Switches mount easily into slots in ACCESSORIES Keyless Hub Adaptor
the actuator's body for interfacing with an electrical controller.
Units can be specified for use with PHD’s Miniature Reed, Hall
Effect, or Magnetoresistive Switches.
3A-3
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rl
DIMENSIONS: SERIES RL ROTARY ACTUATORS
J SLOT FOR
J/2 OPTIONAL SWITCH
1
G PORT 5
-Q13 SPECIFIED
Q WHEN ORDERING
QA 2 4
B K
EE
P
U x .067 [1.7] DP L 3
T
E SQ
R KEY
RLS112 - SEE FIGURE 1 BELOW
RLS116, RLS120, RLS125 - WOODRUFF KEY
ALL OTHERS USE SQUARE/RECTANGULAR KEY
H MTG THREAD
M 4X FRONT
3A
4X BOTTOM
M/2 (POS 2 & 3 ONLY)
.170
C/2 FIGURE 1
N/2 FOR RLS112 ONLY
C N
.394
A F
NOTES:
1) CIRCLED NUMBERS INDICATE PORT MOUNTING SURFACE POSITION
2) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm
3) KEYWAY SHOWN AT MID ROTATION
3A
[57.0] [45.0] [20.0] [44.0] [22.0] [12.0] [1/8 BSP] [M5 x 0.8 x 10.0]
225° OR 270° 5.866 [149.0]
45° OR 90° 4.626 [117.5]
2.579 2.126 .866 2.086 1.043 .473 1/8 NPT 1/4-20 x .500
40 mm 135° OR 180° 5.925 [150.5]
[65.5] [54.0] [22.0] [53.0] [26.5] [12.0] [1/8 BSP] [M6 x 1.0 x 12.0]
225° OR 270° 7.500 [190.0]
45° OR 90° 5.295 [134.5]
3.248 2.540 1.004 2.480 1.240 .650 1/4 NPT 5/16-18 x .625
50 mm 135° OR 180° 6.850 [174.0]
[82.5] [64.5] [25.5] [63.0] [31.5] [16.5] [1/4 BSP] [M8 x 1.25 x 16.0]
225° OR 270° 8.661 [220.0]
45° OR 90° 6.535 [166.0]
3.858 3.168 1.279 2.972 1.486 .650 1/4 NPT 5/16-18 x .625
63 mm 135° OR 180° 8.504 [216.0]
[98.0] [80.5] [32.5] [75.5] [37.75] [16.5] [1/4 BSP] [M8 x 1.25 x 16.0]
225° OR 270° 10.846 [275.5]
1.142 1.004 .373 1.536 .650 .2495 .748 .312 203 WOODRUFF .289 .8666
16 mm
[29.0] [25.5] [9.5] [39.0] [16.5] [8.0] [19.0] [7.92] [3.0 SQ x 14.0] [7.3] [22.0]
1.102 1.220 .354 1.516 .906 .3125 .748 .437 204 WOODRUFF .349 .8666
20 mm
[28.0] [31.0] [9.0] [38.5] [23.0] [8.0] [19.0] [11.1] [3.0 SQ x 14.0] [8.9] [22.0]
1.378 1.397 .443 1.968 1.182 .3745 1.004 .437 204 WOODRUFF .292 1.0241
25 mm
[35.0] [35.5] [11.25] [50.0] [30.0] [10.0] [25.5] [11.1] [3.0 SQ x 16.0] [7.4] [26.0]
1.614 1.850 .631 2.204 1.260 .4995 1.260 1/8 SQ x 3/4 .488 1.2603
32 mm —
[41.0] [47.0] [16.0] [56.0] [32.0] [14.0] [32.0] [5.0 SQ x 20.0] [12.4] [32.0]
2.028 2.146 .650 2.874 1.534 .6245 1.496 3/16 SQ x 1.00 .476 1.3785
40 mm —
[51.5] [54.5] [16.5] [73.0] [39.0] [16.0] [38.0] [5.0 SQ x 25.0] [12.1] [35.0]
2.480 2.677 .670 3.308 1.850 .7495 1.752 3/16 SQ x 1-1/4 .725 1.6540
50 mm —
[63.0] [68.0] [17.0] [84.0] [47.0] [20.0] [44.5] [6.0 SQ x 30.0] [18.4] [42.0]
2.716 3.248 .945 3.544 2.204 .9995 2.007 1/4 SQ x 1-3/8 .849 2.1659
63 mm —
[69.0] [82.5] [24.0] [90.0] [56.0] [30.0] [51.0] [8.0 x 7.0 x 36.0 RECT] [21.6] [55.0]
ANGLE OF ROTATION
Standard angles of rotation are 45°, 90°, 135°, 180°, 225°, and
270°. Consult PHD for other rotation requirements. All units with
optional angle adjustments provide 90° of total angle adjustment.
ROTATIONAL TOLERANCE
The total rotational tolerance of the Series RL Rotary Actuator
is +10°, -0° on specified rotation.
BACKLASH
MAXIMUM
BORE SIZE BACKLASH
12 mm & 16 mm 1° 30'
20 mm & 25 mm 1° 0'
32 mm & 40 mm 0° 45'
50 mm & 63 mm 0° 30'
ROTATIONAL VELOCITY
MAXIMUM
BORE SIZE VELOCITY
12 mm & 16 mm 180°/.030 sec
20 mm, 25 mm, & 32 mm 180°/.050 sec
40 mm 180°/.060 sec
50 mm & 63 mm 180°/.075 sec
3A-6
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rl CAT-03 INDUSTRIAL AUTOMATION
ENGINEERING DATA: SERIES RL ROTARY ACTUATORS
THEORETICAL TORQUE OUTPUT
INPUT BORE SIZE
PRESSURE 12 mm 16 mm 20 mm 25 mm 32 mm 40mm 50 mm 63 mm
psi bar in-lb Nm in-lb Nm in-lb Nm in-lb Nm in-lb Nm in-lb Nm in-lb Nm in-lb Nm
40 2.7 1.2 .13 2.5 .28 4.9 .55 9.1 1.0 19 2.1 39 4.4 73 8.3 145 16
50 3.4 1.5 .16 3.1 .35 6.1 .69 11 1.3 23 2.6 49 5.5 91 10 181 20
60 4.1 1.8 .20 3.7 .42 7.3 .83 14 1.6 28 3.2 58 6.6 110 12 217 25
70 4.8 2.0 .23 4.4 .49 8.5 .96 16 1.8 33 3.7 68 7.7 128 14 254 29
80 5.5 2.3 .26 5.0 .56 9.7 1.1 18 2.1 37 4.2 78 8.8 146 17 290 33
90 6.2 2.6 .30 5.6 .64 11 1.2 21 2.3 42 4.8 88 9.9 164 19 326 37
100 6.8 2.9 .33 6.2 .71 12 1.4 23 2.6 47 5.3 97 11 183 21 362 41
120 8.2 3.5 .40 7.5 .85 15 1.7 27 3.1 56 6.3 117 13 219 25 435 49
130 8.9 3.8 .43 8.1 .92 16 1.8 30 3.4 61 6.9 127 14 237 27 471 53
140 9.6 4.1 .46 8.7 .99 17 1.9 32 3.6 65 7.4 136 15 256 29 507 57
150 10 4.4 .49 9.4 1.1 18 2.1 34 3.9 70 7.9 146 17 274 31 544 61
3A
ROTARY ACTUATOR WEIGHT TABLE
NOMINAL ROTATION
BORE TYPE OF 45° OR 90° 135° OR 180° 225° OR 270°
SIZE UNIT lb kg lb kg lb kg
PLAIN 0.3 0.13 0.4 0.18 0.4 0.18
12 mm CUSHION 0.4 0.18 0.4 0.18 0.5 0.22
ANGLE ADJUSTMENT 0.4 0.18 0.5 0.22 0.5 0.22
PLAIN 0.4 0.18 0.5 0.22 0.6 0.27
16 mm CUSHION 0.5 0.23 0.6 0.27 0.7 0.32
ANGLE ADJUSTMENT 0.6 0.27 0.7 0.32 0.7 0.32
PLAIN 0.7 0.32 0.8 0.36 0.9 0.41
20 mm CUSHION 0.9 0.41 0.9 0.41 1.0 0.45
ANGLE ADJUSTMENT 0.9 0.41 1.0 0.45 1.1 0.50
PLAIN 1.1 0.50 1.2 0.54 1.4 0.64
25 mm CUSHION 1.4 0.64 1.5 0.68 1.6 0.70
ANGLE ADJUSTMENT 1.4 0.64 1.5 0.68 1.7 0.80
PLAIN 1.7 0.77 2.0 0.91 2.3 1.04
32 mm CUSHION 2.0 0.91 2.3 1.04 2.7 1.22
ANGLE ADJUSTMENT 2.4 1.07 2.7 1.22 3.0 1.36
PLAIN 2.6 1.17 3.3 1.49 4.3 1.95
40 mm CUSHION 3.2 1.45 4.0 1.81 4.9 2.22
ANGLE ADJUSTMENT 3.6 1.63 4.3 1.95 5.3 2.40
PLAIN 5.2 2.36 6.0 2.72 6.9 3.13
50 mm CUSHION 6.0 2.72 6.7 3.04 7.7 3.49
ANGLE ADJUSTMENT 6.8 3.08 7.6 3.45 8.5 3.85
PLAIN 9.2 4.17 10.5 4.76 12.3 5.57
63 mm CUSHION 10.4 4.71 11.8 5.35 13.5 6.12
ANGLE ADJUSTMENT 10.6 4.81 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.
3A-7
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rl
OPTIONS: SERIES RL ROTARY ACTUATORS
45° ANGLE ADJUSTMENT
AB BOTH DIRECTIONS
G PORT
SHOCK PADS
3A
on unit stopping capacity.
Cushion performance will not be realized on units of 45° or
less due to 40° of effective cushion length.
MOUNTING HOLES IN
GX POSITIONS 3 & 4 1
5
MAGNETORESISTIVE SWITCHES
This option equips the rotary actuator with magnets on the rack
for use with PHD Magnetoresistive Switches. These switches mount
easily to the actuator using the “T” slot in the top of the body.
Minimum sensing rotation of 90° for 12 mm and 16 mm units. .317 [8.0]
Inc.
THREAD SEAL
COVER
WASHER
SHOCK ABSORBER INSTALLED
NW CLOCKWISE DIRECTION CAP
3A
FLATS
PH D
SHOCK ABSORBER READY
, Inc .
GU CLOCKWISE DIRECTION
The -GS, -GT, and -GU options should only be ordered if the SHOCK ABSORBER
READY CAPS
shock absorber(s) is to be supplied separately from the rotary
SHOCK ABSORBER
actuator. These options make provisions for the installation of MOUNTING HOLE
hydraulic shock absorbers but do not include the shock absorber (COUNTERCLOCKWISE)
units. They include the shock sealing kit for each direction ordered.
See pages 3A-14 through 3A-15 for details of stopping capacity with
built-in shock absorbers.
damage the actuator and void the warranty. Only shock absorbers
NOTE: The shock absorber also provides rotation adjustment. specified by PHD should be used in Series RL Rotary Actuators. The
Shock absorbers must be installed in the rotary actuator body prior use of any other shock absorbers will adversely affect actuator
to operating the unit. Operation without shock absorbers can performance and service life.
1
U4 PORT POSITION 2 5
U6 PORT POSITION 3 2 4
U8 PORT POSITION 4
B
A ACROSS FLATS
(HEX)
3A
D Ø d SHAFT
1) Review pages 3A-6 to make sure RL rotary actuator bearings ROTATIONAL VELOCITY EQUATIONS
can withstand axial and radial bearing loads.
c) Calculate the required torque. d) Use the KE Energy Table below to select appropriate
Select the illustration from the application types on the RL actuator.
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.
3A-14
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rl CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATOR SELECTION: SERIES RL
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)
T = Torque required to rotate load (in-lbs) α = Acceleration (rad/sec2) t = time (sec)
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)
T = Torque required to rotate load (N-m) α = Acceleration (rad/sec2) t = time (sec)
M = Mass = Fg / g (kg) SF = Safety Factor
BALANCED LOADS
T = Jm x α x SF
3A
L
k
k
k
2
Jm = Fg x k 2 Fg
2
Fg 1
g 2 Jm =
g
x
4
x ( L3 + k )2 Jm =
5
x x k2
g
LOAD ORIENTATION
Rectangular Plate Rod
Mounted on center Mounted on center
k dim is
radius
of rod
Tg = Rotating Vertically b
(with gravity)
a
a
2 2 2 2
T = Rotating Horizontally Jm = Fg x a + b Jm = Fg x a + 3k
(without gravity) g 12 g 12
3A-15
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rl
APPLICATION EXAMPLE: SERIES RL ROTARY ACTUATORS
EXAMPLE A-Disk rotating about centerline of unit. Numbers in [ ] are for metric
units and are in mm.
2) Determine torque requirement for the application: b) Using Jm from step 2a and velocity from step 3a, determine
KE of the system from the basic KE equation:
a) Calculate Rotational Mass Moment of Inertia (Jm) using
equations given on page 3A-15. IMPERIAL METRIC
KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
3A
When the recommended shocks are used, three times the KE can
b) Determine required acceleration of the load: be handled, or conversely, a smaller unit can be used.
IMPERIAL METRIC
T = Jm x α x SF T = Jm x α x 2
3A-16
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rl CAT-03 INDUSTRIAL AUTOMATION
APPLICATION EXAMPLE: SERIES RL ROTARY ACTUATORS
EXAMPLE B-Combination of rectangular plate mounted on Numbers in [ ] are for metric
center and a point load mounted off center. units and are in mm.
3A
equations given on page 3A-15.
T = .0146 x 25.2 x 2 = .74 in-lbs T = .00166 x 25.2 x 2 = .084 N-m
POINT LOAD
Total T = 4.5 + .74 = 5.24 in-lbs Total T = .51 + .084 = .594 N-m
IMPERIAL METRIC
Fg Fg
Jm = x k2 Jm = g x k2 Review torque chart on page 3A-7 for 87 psi [6 bar] to select
g
minimum actuator based on torque.
Jm = 1 lb 4.45 N
x (2 in)2 Jm = x (.0508 m)2 3) Determine the stopping capacity of the actuator for the
386.4 9.81 application:
Jm = .0104 in-lb-sec2 Jm = .00117 N-m-sec2
a) Determine the average rotational velocity using Equation A
on page 3A-14.
RECTANGULAR PLATE
ω = .0175 x rotation angle (deg) ω = .0175 x 180° = 6.3 rad/sec
IMPERIAL METRIC rotational time (sec) .5 sec
Fg a2+b2 Fg a2+b2
Jm = Jm = g x 12
g x 12 b) Using Jm from step 2a and velocity from step 3a, determine
KE of the system from the basic KE equation:
2 2
Jm = 7.55 x (.1524) +(.0508)
2 2
Jm = 1.698 x 6 +2
386.4 12 9.81 12 IMPERIAL METRIC
2 2 KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
Jm = .0146 in-lb-sec Jm = .00165 N-m-sec
KE = .5 x .025 x 6.32 x 4 KE = .5 x .00282 x 6.32 x 4
KE = 1.98 in-lbs KE = .224 N-m
Total Jm Total Jm
= .0146+.0104=.025 in-lb-sec2 = .00165+.00117=.00282N-m-sec2
IF SHOCKS ARE USED:
IMPERIAL METRIC
b) Determine required acceleration of the load:
KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
α = .035 x rotational angle (deg) KE = .5 x .025 x 6.32 x 1.35 KE = .5 x .00282 x 6.32 x 1.35
[time (sec)]2 KE = .66 in-lbs KE = .076 N-m
α = .035 x 180° = 25.2 rad/sec2
(.5 sec)2 When the recommended shocks are used, three times the KE can
be handled, or conversely, a smaller rotary unit can be used.
c) Calculate required torque:
c) Use the KE Energy table on page 3A-14 to select the
POINT LOAD
appropriate RL actuator. The following units satisfy the
IMPERIAL METRIC
requirements: 63 mm plain, 50 mm with shock pads, and
T = [(Jm x α)+(Fg x k)] x 2 T = [(Jm x α)+(Fg x k)] x SF 40 mm with cushions.
T = [(.0140 x 25.2) + (1 x 2)] x 2 T = [(.00117 x 25.2) + (4.45 x .0508)] x 2
3A-17
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rl
ROTARY ACTUATORS INDEX:
Ordering Data
Page 3B-2
SERIES RA
Benefits
Page 3B-3
Dimensions
Pages 3B-4 and 3B-5
High Load and Stopping Capacity, Zero Backlash
Engineering Data
Pages 3B-6 and 3B-7
Options
Pages 3B-8 to 3B-11
Rotary Actuator
3B
Selection
Pages 3B-12 to 3B-13
Application Example
Page 3B-14 to 3B-15
3B-1
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ra
3B
3B-2
SWITCH READY
E - Hall Effect magnets for Series 5360 Switch
(800) 624-8511
www.phdinc.com/ra
I - Magnetoresistive magnets for Series 5360 Switch
M - Reed magnets for Series 5360 Switch
TO ORDER SPECIFY: BORE SIZE Switches must be ordered separately. See page 3B-9.
Product, Series, Type, Design No., Bore Size, 20 mm (.78") OUTPUT TYPES
Angle of Rotation, and Options. 25 mm (1.0") PORT CONTROL Q10 - Output hub
32 mm (1.25") PB - Both directions Q19 - Output hub with hollow pinion shaft
PRODUCT TYPE 40 mm (1.5") PC - Counterclockwise (Available on 32 mm–50 mm units only)
R - Rotary Actuator S - 150 psi [10 bar] Air Max. 50 mm (2.0") PW - Clockwise Q22 - Splined output shaft only
R A S 1 20 x 180 – PB – NB – E – Q10
CAT-03
SERIES DESIGN NO. ANGLE OF ROTATION CUSHION CONTROL
A - Standard Duty 1 - Imperial 45°, 90°, 135°, 180°, 225°, 270° DB - Cushion both directions
5 - Metric DC - Cushion counterclockwise
DW - Cushion clockwise
SHOCK ABSORBER
NB - Shock installed both directions
NC - Shock installed counterclockwise
SHOCK ABSORBER CHART NW - Shock installed clockwise
BORE PHD SHOCK Options may affect unit length. GS - Shock ready both directions
See unit dimension and options
SIZE ABSORBER NO. ! pages for adders. GT - Shock ready counterclockwise
20 mm 56722-01 GU - Shock ready clockwise
25 mm 56722-02 Shock absorbers must be ordered
ORDERING DATA: SERIES RA ROTARY ACTUATORS
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
BENEFITS: SERIES RA ROTARY ACTUATORS
BENEFITS
■ Series RA Rotary Actuators are available in five sizes and six
standard rotations with torques ranging to 150 in-lb at 100 psi
[17 Nm at 7 bar] to cover a wide range of applications.
■ The high strength steel alloy rack and one-piece pinion shaft
are designed and tested to operate for a minimum of 10 million
maintenance-free cycles.
3B
■ Oversize sealed ball bearings and large pinion shafts
ensure shaft stability under heavy loading and high load
stopping ability.
3B-3
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ra
DIMENSIONS: SERIES RA ROTARY ACTUATORS
45°, 90°, 135°, or 180° ROTATION UNITS
G* A
Y 4X THRU AND C'BORE
F Y/2 FOR L SHCS
2X X NPT [BSP] PORT
.437
[11.10]
T
J
S SEAT FOR #204
WOODRUFF KEY
PA O
2X ANGLE ADJUSTMENT
K
D MAX Z
3B
Ø NB ± .0005 x NC DP U
[Ø NB ± 0.013] 1X FRONT & BACK
KEYWAY FOR
Q/2 W KEY
Q ØV H C
B
NOTES:
1) *G DIMENSION INCREASES WITH CUSHION OPTION. SEE PAGE 3B-8.
2) KEYWAY SHOWN AT MID-ROTATION
3) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm.
BORE SIZE L MA MB NB NC O PA Q R S
#10 10-24 x .281 10-24 x .375 1.3785 .085 2.047 1.000 1.180 2.166 .276
20 mm
[M5] [M5 x 0.8 x 7] [M5 x 0.8 x 12.5] [35.014] [2.16] [52.0] [25.0] [30.0] [55.0] [7.0]
#10 10-24 x .285 10-24 x .500 1.4572 .080 2.362 1.250 1.378 2.362 .295
25 mm
[M5] [M5 x 0.8 x 7] [M5 x 0.8 x 12.5] [37.013] [2.03] [60.0] [30.0] [35.0] [60.0] [7.5]
1/4 1/4-20 x .250 1/4-20 x .500 1.8509 .100 2.835 1.500 1.772 2.952 .335
32 mm
[M6] [M6 x 1.0 x 7.5] [M6 x 1.0 x 15] [47.013] [2.54] [72.0] [40.0] [45.0] [75.0] [8.5]
5/16 5/16-18 x .437 5/16-18 x .750 2.0477 .115 3.544 1.750 2.164 3.346 .394
40 mm
[M8] [M8 x 1.25 x 12] [M8 x 1.25 x 20] [52.012] [2.92] [90.0] [42.5] [55.0] [85.0] [10.0]
3/8 3/8-16 x .375 3/8-16 x .750 2.4414 .125 3.976 2.000 2.362 3.936 .452
50 mm
[M10] [M10 x 1.5 x 10] [M10 x 1.5 x 20] [62.012] [3.17] [101.0] [55.0] [60.0] [100.0] [11.5]
G* A
4X THRU AND
F C'BORE FOR L SHCS
FF
ACROSS FLATS 2X X NPT [BSP] PORT
.437
[11.10]
T
PA O
Ø NB ± .0005 x NC DP
3B
K Z
D MAX [Ø NB ± 0.013] 1X FRONT & BACK U
KEYWAY FOR
W KEY
Q/2
H C
Q ØV
B
NOTES:
1) *G DIMENSION INCREASES WITH CUSHION OPTION. SEE PAGE 3B-8.
2) KEYWAY SHOWN AT MID-ROTATION
3) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm.
BORE SIZE L MA MB NB NC O PA Q R S
#10 10-24 x .281 10-24 x .375 1.3785 .085 2.047 1.000 1.181 2.166 .276
20 mm
[M5] [M5 x 0.8 x 7] [M5 x 0.8 x 12.5] [35.014] [2.16] [52.0] [25.0] [30.0] [55.0] [7.0]
#10 10-24 x .285 10-24 x .500 1.4572 .080 2.362 1.250 1.378 2.362 .295
25 mm
[M5] [M5 x 0.8 x 7] [M5 x 0.8 x 12.5] [37.013] [2.03] [60.0] [30.0] [35.0] [60.0] [7.5]
1/4 1/4-20 x .250 1/4-20 x .500 1.8509 .100 2.835 1.500 1.772 2.952 .335
32 mm
[M6] [M6 x 1.0 x 7.5] [M6 x 1.0 x 15] [47.013] [2.54] [72.0] [40.0] [45.0] [75.0] [8.5]
5/16 5/16-18 x .437 5/16-18 x .750 2.0477 .115 3.544 1.750 2.164 3.346 .394
40 mm
[M8] [M8 x 1.25 x 12] [M8 x 1.25 x 20] [52.012] [2.92] [90.0] [42.5] [55.0] [85.0] [10.0]
3/8 3/8-16 x .375 3/8-16 x .750 2.4414 .125 3.976 2.000 2.362 3.936 .452
50 mm
[M10] [M10 x 1.5 x 10] [M10 x 1.5 x 20] [62.012] [3.17] [101.0] [55.0] [60.0] [100.0] [11.5]
in temperatures from -20° to +180°F [-28° to +82°C]. Consult PHD Control of pinion shaft speed is extremely important as inertia
for temperatures beyond this range. force is a function of rotational speed and distance from load to
output shaft center. PHD's built-in flow controls, cushions, and
LUBRICATION shock absorbers should be considered when inertial loads are
applied. See pages 3B-8 through 3B-10 for information on Series
All units are permanently lubricated at assembly for service
RA Rotary Actuator controls. See pages 3B-12 through 3B-13 for
using non-lubricated air. Life can be extended by periodic lubrication
information on load stopping capacity.
of the rack and pinion using high grade bearing grease and by using
lubricated air.
BEARING LOADS TABLE
BACKLASH
AXIAL RADIAL DISTANCE
All units have 0 degrees of backlash at ends of rotation.
BEARING LOAD BEARING LOAD BETWEEN
BORE CAPACITY CAPACITY BEARINGS
ANGLE OF ROTATION SIZE lb N lb N in mm
Standard angles of rotation are 45°, 90°, 135°, 180°, 225°, and 20 mm 97 431 1.34 34.0
376 1672
270°. Consult PHD for other rotation requirements. All units have
25 mm 118 524 453 2015 1.61 40.9
built-in angle adjustments providing +10°, -45°.
32 mm 182 809 640 2846 1.94 49.3
40 mm 237 1054 746 3318 2.56 65.0
ROTATIONAL TOLERANCE 50 mm 325 1445 966 4296 2.90 73.6
The total rotational tolerance of the Series RA Rotary Actuator
is +10°, -0° on the nominal specified rotation.
3B-6
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ra CAT-03 INDUSTRIAL AUTOMATION
ENGINEERING DATA: SERIES RA ROTARY ACTUATORS
ROTARY ACTUATOR WEIGHT TABLE
NOMINAL ROTATION
BORE TYPE OF 45° OR 90° 135° OR 180° 225° OR 270°
SIZE UNIT lb kg lb kg lb kg
STANDARD 1.8 .77 1.8 .77 2.3 1.02
20 mm
WITH SHOCK OPTION -NB 2.0 .88 2.1 .89 2.4 1.09
STANDARD 2.4 1.08 2.8 1.24 3.6 1.60
25 mm
WITH SHOCK OPTION -NB 2.9 1.29 3.3 1.46 3.9 1.75
STANDARD 4.3 1.92 4.9 2.19 6.5 2.94
32 mm
WITH SHOCK OPTION -NB 5.2 2.33 5.8 2.63 7.1 3.19
STANDARD 7.7 3.47 8.8 3.96 11.8 5.31
40 mm
WITH SHOCK OPTION -NB 9.5 4.30 10.7 4.84 13.0 5.89
STANDARD 11.6 5.22 12.8 5.78 17.7 8.01
50 mm
WITH SHOCK OPTION -NB 14.3 6.47 15.7 7.09 19.0 8.59
3B
ADDER WITH ADDER WITH
BORE CUSHION OPTION -DB HUB OPTION -Q10 OR -Q19
SIZE lb kg lb kg
20 mm .3 .13 .03 .01
25 mm .4 .16 .03 .01
32 mm .6 .24 .04 .02
40 mm .8 .34 .12 .05
50 mm 1.1 .47 .23 .11
ILLUSTRATION A ILLUSTRATION B
0°-180° ROTATIONS 181°-270° ROTATIONS
ANGLE ADJUSTMENT SCREW
ANGLE ADJUSTMENT SCREW
3B-7
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ra
OPTIONS: SERIES RA ROTARY ACTUATORS
G
PORT CONTROL®
PB BOTH DIRECTIONS
F PORT CONTROL
COUNTERCLOCKWISE
PORT CONTROL®
PC COUNTERCLOCKWISE DIRECTION AA
PORT CONTROL
PORT CONTROL® CLOCKWISE
PW CLOCKWISE DIRECTION RASx20, RASx25, RASx32
PHD Port Control® is a built-in flow control valve for controlling G
the speed through complete shaft rotation. The Port Control® is F PORT CONTROL
based on the “meter-out” principle and features an adjustable needle COUNTERCLOCKWISE
in a cartridge with an external check seal. The self-locking needle PORT CONTROL
has micrometer threads and is adjustable under pressure. It CLOCKWISE
determines the orifice size which controls the exhaust flow rate of AA
3B
the actuator. The check seal expands while air is exhausting from
the actuator, forcing the air to exhaust past the adjustable needle.
The check seal collapses to allow a free flow of incoming air. The
PHD Port Control® saves space and eliminates the cost of fittings
and installation for external flow control valves.
NOTE: Port Control may not be effective below operating RASx40 & RASx50
pressures of 10 psi [.7 bar].
BORE SIZE F G AA
20 mm .394 [10.0] .768 [19.5] .374 [9.5]
25 mm .394 [10.0] .768 [19.5] .374 [9.5]
32 mm .394 [10.0] .768 [19.5] .374 [9.5]
40 mm .472 [12.0] .945 [24.0] .965 [24.5]
50 mm .472 [12.0] .945 [24.0] 1.083 [27.5]
Numbers in [ ] are for metric units and are in mm.
G CUSHION
F CLOCKWISE
DB CUSHION BOTH DIRECTIONS AA
CUSHION
DC COUNTERCLOCKWISE DIRECTION
CUSHION
COUNTERCLOCKWISE
CUSHION
DW CLOCKWISE DIRECTION BORE SIZE F G AA
20 mm .315 [8.0] 1.280 [32.5] .118 [3.0]
PHD Cushions allow for smooth deceleration at the end of
25 mm .315 [8.0] 1.280 [32.5] .118 [3.0]
rotation. When the cushion operates, the remaining volume of air in
the actuator must exhaust past an adjustable needle, which controls 32 mm .315 [8.0] 1.280 [32.5] .118 [3.0]
the deceleration of the pinion shaft. The effective length of the 40 mm .394 [10.0] 1.378 [35.0] —
cushion is approximately 40° of rotation at the end of full nominal 50 mm .394 [10.0] 1.378 [35.0] —
rotation. The use of angle adjustment screws to reduce the angle of Numbers in [ ] are for metric units and are in mm.
rotation has a direct effect on the length of cushion engagement.
Example: 5° of angle reduction on one end will reduce cushion
engagement by 5° on that end of rotation. See pages 3B-12 through
3B-13 for information on unit stopping capacity with adjustable
cushions.
PORT
CONTROL
AA CLOCKWISE
AA
PORT CONTROL
F COUNTERCLOCKWISE
CUSHION PORT CONTROL CUSHION
COUNTERCLOCKWISE CLOCKWISE COUNTERCLOCKWISE
BORE SIZE F G AA
20 mm .335 [8.5] 1.280 [32.5] .374 [9.5]
25 mm .335 [8.5] 1.280 [32.5] .374 [9.5]
MAGNETS FOR PHD MINIATURE
32 mm
40 mm
.335 [8.5]
.394 [10.0]
1.280 [32.5] .374 [9.5]
1.378 [35.0] .453 [11.5]
I MAGNETORESISTIVE SWITCHES
50 mm .453 [11.5] 1.378 [35.0] 1.083 [27.5]
3B
Numbers in [ ] are for metric units and are in mm. This option equips the rotary actuator with magnets on the rack
for use with PHD Magnetoresistive Switches. These switches mount
easily to the actuator using the “T” slot in the top of the body.
Inc.
SHOCK ABSORBER INSTALLED
NW CLOCKWISE DIRECTION
CAP
The hydraulic shock absorber options are designed for the SHOCK ABSORBER
maximum in deceleration control and rotational stopping ability. The (CLOCKWISE)
-NB, -NC, and -NW options provide the rotary actuator with the SHOCK LOCK NUT
hydraulic shock absorber installed in the appropriate location(s).
See pages 3B-12 through 3B-13 for details on unit stopping capacity A MAX
with built-in shock absorbers. Shock absorbers are nominally
3B
B ACROSS
effective for 45° of rotation each direction. FLATS
CLOCKWISE DIRECTION
The -GS, -GT, and -GU options should only be used if the
shock absorber(s) is to be supplied separately from the rotary SHOCK ABSORBER
SHOCK ABSORBER READY CAPS
actuator. These options provide a unit that has provisions for MOUNTING HOLE (CLOCKWISE)
installing hydraulic shock absorbers but have no shock absorbers
included. See pages 3B-12 through 3B-13 for details on unit
stopping capacity with built-in shock absorbers.
Inc.
The hub is manufactured from alloy aluminum and comes
assembled to a specially designed low profile pinion shaft. The hub
can be removed to allow custom machining for specific mounting
needs. The hub hole pattern can be oriented in 22.5° increments.
Separate hubs are available in a kit complete with all hardware. See HUB
D
OUTPUT HUB WITH HOLLOW
Q19 PINION SHAFT
3B
This option provides an output hub with a hollow pinion shaft
in place of the standard pinion shaft. The hub has four thru holes
counterbored from one surface and threaded from the other, Ø H THRU UNIT
allowing easy mounting of fixturing, tooling, or other actuators (–Q19 OPTION ONLY) E
requiring a flat surface area. The pinion shaft is hollow for feeding Ø J DOWEL PIN HOLE
(–Q10 OPTION ONLY)
pneumatic or electrical lines from the back of the rotary actuator to
F THREAD THRU C'BORE
the output hub. The hub is manufactured from alloy aluminum and FROM OPPOSITE SIDE FOR G SHCS
comes assembled to a specially designed low profile pinion shaft.
The hub can be removed to allow custom machining for specific
mounting needs. It can also be rotated in 22.5° rotations. Kinetic
energy ratings are reduced by 10% for this option.
NOTE: Available on 32 mm, 40 mm, and 50 mm units.
BORE SIZE A B C D E F G H J
1.535 .374 .100 .787 .787 8-32 #4 — .1264 x .25 DP
20 mm
[39.0] [9.5] [2.5] [20.0] [20.0] [M4 x 0.7] [M3] [3.21 x 6.4 DP]
1.772 .374 .100 .945 .945 10-32 #6 — .1264 x .25 DP
25 mm
[45.0] [9.5] [2.5] [24.0] [24.0] [M5 x 0.8] [M4] [3.21 x 6.4 DP]
2.165 .492 .100 1.102 1.102 1/4-28 #10 .276 .2514 x .50 DP
32 mm
[55.0] [12.5] [2.5] [28.0] [28.0] [M6 x 1.0] [M4] [7.0] [6.39 x 12.7 DP]
2.717 .492 .100 1.398 1.398 1/4-28 #10 .315 .2514 x .50 DP
40 mm
[69.0] [12.5] [2.5] [35.5] [35.5] [M8 x 1.25] [M6] [8.0] [6.39 x 12.7 DP]
2.953 .748 .100 1.575 1.575 7/16-20 3/8 .394 .2514 x .50 DP
50 mm
[75.0] [19.0] [2.5] [40.0] [40.0] [M10 x 1.5] [M8] [10.0] [6.39 x 12.7 DP]
Numbers in [ ] are for metric units and are in mm.
3B-12
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ra CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATOR SELECTION: SERIES RA
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)
T = Torque required to rotate load (in-lbs) α = Acceleration (rad/sec2) t = time (sec)
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)
T = Torque required to rotate load (N-m) α = Acceleration (rad/sec2) t = time (sec)
M = Mass = Fg / g (kg) SF = Safety Factor
BALANCED LOADS
T = Jm x α x SF
Disk Disk Solid Sphere
Mounted on center End mounted on center Mounted on center
3B
L
k
k
k
2
Jm = Fg x k 2 Fg
2
Fg 1
g 2 Jm =
g
x
4
x ( L3 + k ) 2
Jm =
5
x x k2
g
2 2 2 2
Jm = Fg x a + b Jm = Fg x a + 3k
T = Rotating Horizontally g 12 g 12
(without gravity)
c Fg2 Fg2
b
k
Fg b Fg1 Fg1
a
a
Fg 2 2
Fg2 (4b2 + 3k2)
(Fg
2 2 2 2
Jm =
g
x k2 Jm = Fg1 x 4a + c + Fg2 x 4b + c
g 12 g 12
Jm =
g1
x (4a + 3k ) +
12 g
x)( 12
)
3B-13
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ra
APPLICATION EXAMPLE: SERIES RA ROTARY ACTUATORS
EXAMPLE A-Disk rotating about centerline of unit. Numbers in [ ] are for metric
units and are in mm.
2) Determine torque requirement for the application: b) Using Jm from step 2a and velocity from step 3a, determine
KE of the system from the basic KE equation:
a) Calculate Rotational Mass Moment of Inertia (Jm) using
equations given on page 3B-13. IMPERIAL METRIC
KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
3B
When the recommended shocks are used, three times the KE can
b) Determine required acceleration of the load: be handled, or conversely, a smaller unit can be used.
IMPERIAL METRIC
T = Jm x α x SF T = Jm x α x 2
3B-14
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ra CAT-03 INDUSTRIAL AUTOMATION
APPLICATION EXAMPLE: SERIES RA ROTARY ACTUATORS
EXAMPLE B-Combination of rectangular plate mounted on Numbers in [ ] are for metric
center and a point load mounted off center. units and are in mm.
3B
equations given on page 3B-13.
T = .0146 x 25.2 x 2 = .74 in-lbs T = .00166 x 25.2 x 2 = .084 N-m
POINT LOAD
Total T = 4.5 + .74 = 5.24 in-lbs Total T = .51 + .084 = .594 N-m
IMPERIAL METRIC
Fg Fg
Jm = x k2 Jm = g x k2 Review torque chart on page 3B-6 for 87 psi [6 bar] to select
g
minimum actuator based on torque.
Jm = 1 lb 4.45 N
x (2 in)2 Jm = x (.0508 m)2 3) Determine the stopping capacity of the actuator for the
386.4 9.81 application:
Jm = .0104 in-lb-sec2 Jm = .00117 N-m-sec2
a) Determine the average rotational velocity using Equation A
on page 3B-12.
RECTANGULAR PLATE
ω = .0175 x rotation angle (deg) ω = .0175 x 180° = 6.3 rad/sec
IMPERIAL METRIC rotational time (sec) .5 sec
Fg a2+b2 Fg a2+b2
Jm = Jm = g x 12
g x 12 b) Using Jm from step 2a and velocity from step 3a, determine
KE of the system from the basic KE equation:
2 2
Jm = 7.55 x (.1524) +(.0508)
2 2
Jm = 1.698 x 6 +2
386.4 12 9.81 12 IMPERIAL METRIC
2 2 KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
Jm = .0146 in-lb-sec Jm = .00165 N-m-sec
KE = .5 x .025 x 6.32 x 4 KE = .5 x .00282 x 6.32 x 4
KE = 1.98 in-lbs KE = .224 N-m
Total Jm Total Jm
= .0146+.0104=.025 in-lb-sec2 = .00165+.00117=.00282N-m-sec2
IF SHOCKS ARE USED:
IMPERIAL METRIC
b) Determine required acceleration of the load:
KE = 1/2 x Jm x ω 2 x Fa KE = 1/2 x Jm x ω 2 x Fa
α = .035 x rotational angle (deg) KE = .5 x .025 x 6.32 x 1.35 KE = .5 x .00282 x 6.32 x 1.35
[time (sec)]2 KE = .66 in-lbs KE = .076 N-m
α = .035 x 180° = 25.2 rad/sec2
(.5 sec)2 When the recommended shocks are used, three times the KE can
be handled, or conversly, a smaller rotary unit can be used.
c) Calculate required torque:
c) Use the KE Energy table on page 3B-12 to select the
POINT LOAD
appropriate RA actuator. The following units satisfy the
IMPERIAL METRIC
requirements: 50 mm plain, 32 mm with cushions, or 20 with
T = [(Jm x α)+(Fg x k)] x 2 T = [(Jm x α)+(Fg x k)] x SF shock absorbers.
T = [(.0140 x 25.2) + (1 x 2)] x 2 T = [(.00117 x 25.2) + (4.45 x .0508)] x 2
3B-15
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ra
NOTES
3B
3B-16
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ra CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATORS INDEX:
Miniature
(0180 & 0183 Series)
MINIATURE, AIR/OIL TANDEM, AND MULTI-POSITION Pages 3C-2 to 3C-6
Series 1000-8000
Pages 3C-8 to 3C-12
Multi-Position
Pages 3C-20 to 3C-28
Engineering Data
Pages 3C-29 to 3C-31
3C
Plumbing Schematics
Pages 3C-32 to 3C-33
Options
Pages 3C-35 to 3C-40
SERIES 2000-8000
MINIATURE AIR/OIL TANDEM
ROTARY
ACTUATORS
SERIES 2000-8000
MULTI-POSITION
3C-1
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/products/rotaryactuators
ORDERING DATA: MINIATURE ROTARY ACTUATORS
UNITS WITH IMPERIAL SHAFTS AND KEYWAYS
TO ORDER SPECIFY:
Series, Size, Type, Design No.,
Options, and Seals.
SERIES NUMBER FOR PORT & MTG. HOLE TYPE TYPE OPTIONS
IMPERIAL METRIC POSITION 1 - Single Rack 0 - No Sensor
0 5 2 Position Actuator 2 - Double Rack 3 - Sensor Transducer with
3 8 3 Position Actuator -(Not T - Tandem Transition Plate
available on Size 50) NOTE: 018x50,
018375, and 018875
are available in -2 NOTES:
double rack only. 1) Sensor must be used with a PHD Set Point
Module. See Switches and Sensors section
for information and ordering data.
SERIES NUMBER FOR PORT & MTG. HOLE TYPE TYPE OPTIONS
IMPERIAL METRIC POSITION 1 - Single Rack 0 - No Sensor
— 6 2 Position Actuator 2 - Double Rack 3 - Sensor Transducer with
— 9 3 Position Actuator -(Not T - Tandem Transition Plate
available on Size 50) NOTE: 018x50, and
018975 are available
in -2 double rack only. NOTES:
1) Sensor must be used with a PHD Set Point
Module. See Switches and Sensors section
for information and ordering data.
3C-2
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/018x CAT-03 INDUSTRIAL AUTOMATION
MINIATURE ROTARY ACTUATORS:
SERIES 018x502 & 018x75x
BENEFITS UNIT 018x752
■ Two bore sizes, single and double rack, air-oil tandem, and 3
position models are offered for a wide range of application
requirements.
■ One piece pinion gear with sealed ball bearings give maximum
3C
output shaft support, low friction, and long unit life.
SERIES
SPECIFICATIONS 018x50 018x75
PISTON SEALS (1 Per Piston) Block Vee (2 Per Piston) Block Vee
PISTONS Part of the Rack Free Floating Aluminum
PINION SHAFT One Piece Alloy Steel
RACK Alloy Steel
END CAPS — Zinc Plated Steel
BODY Hardcoated Aluminum
BEARINGS (2) Steel Ball Bearings
PORTS 10-32 [M5 x .8] with Barb Fittings 1/8 NPT [1/8 BSP]
LUBRICATION Permanently Lubricated for Non-Lube Air
ANGLE ADJUSTMENT 0° to 180° (Fully Adjustable)
BACKLASH 0° at Both End Positions
ROTATION 180° Total
FLOW CONTROLS Not Available Built-in Standard*
*Not available on 018375, 018875, or 018975 3 position units.
3C-3
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/018x
3C
BASIC DIMENSIONS
3C-4
SERIES 018x75x & 018x752 UNITS
2.000 1.500
[38.1] 10-32 THREAD x .312
[50.8]
(800) 624-8511
[M5 x .8] DP
www.phdinc.com/018x
FOR SHAFT
1.000 DETAILS SEE
[25.4] 2.000 [50.8] 10-24 [M5 x .8] PAGE 3C-5 .250 1.500 10-24 [M8 x .5] ANGLE LIMITING SEGMENTS ALLOW
THREAD x .250 [6.3] DP [6.3] [38.1] THREAD x .375 [10] DP 180° MAX ROTATION
2.500 [63.4]
4X FRONT & BACK 4X TOP & BOTTOM 0° MIN ROTATION
2 4
CAT-03
3
.500
[12.7]
.310
[7.9] 1.000 .190 1.500
[25.4] SQ [4.8] [38.1]
SOLUTIONS FOR
3
.310 1.000
[7.9] [25.4]
INDUSTRIAL AUTOMATION
NOTES:
DIMENSIONS: SERIES 018x75x MINIATURE ROTARY ACTUATORS
[25.4]
PORT PRESSURIZED - C
1.000
The PHD Three Position Rotary Actuator yields three output
FULL CW POSITION
ANGLE ADJUSTMENTS
shaft positions. Both the extreme positions and the midposition can
be adjusted in the field allowing a total rotation from 0° to 180° with
C the midpoint anywhere between. Pressurizing port C provides full
A
counterclockwise rotation (position I). Pressurizing ports B1 and B2
at the same time causes the unit to rotate to position II and to hold
III
4.250 [107.06]
at that position. The racks are trapped by the piston and rods (B1
and B2) and hold the pinion from rotating, creating the positive
PORTS PRESSURIZED
midposition. The midpoint adjustment stops allow the midpoint to
2.125 [53.8]
R°
be set by changing the lengths that each piston and rod can stroke.
B1 & B2
II
Position III is obtained by pressurizing port A driving the pinion
T°
shaft to a full clockwise position.
B1
B2
I°
Output positions can be selected in any sequence allowing the
actuator to stop at or pass by the midposition.
I
PORT PRESSURIZED - A
FULL CCW POSITION
VIEW FROM FRONT OF UNIT
3C
FOR LOCATION OF THIRD POSITION
2X ADJUSTMENT CONTROL KNOB
MIDPOINT
C B1 ADJUSTMENT
STOPS
A B2
II
LOCKING SCREWS
4
HOLD MIDPOINT
ADJUSTMENT IN PLACE
[25.4]
1.000
1
I III
2
[7.9]
.310
018075x + .000
.375 - .001 .375 204
018375x
Woodruff
018575x + .000
1.577 [40]
2.500 [63.5]MAX
+ .000
10 - .007
.750
[19]
B
5.000 [127]
AØ AØ
MULTI-POSITION UNIT
2.375 [60.3]
SERIES 018x752
C KEYWAY C KEYWAY
3C-6
DOUBLE RACK UNITS
SERIES 0180502
(800) 624-8511
www.phdinc.com/018x
3.000 [76.2]
1.500 [38.1] .750 ANGLE LIMITING SEGMENT
1.500 [38.1] .312 [7.9] AUXILIARY MTG LOCATION.
2.219 [56.4] [19]
.594 LIMITS ROTATION TO 45° FROM
1.109 [15] 2X 10-32 [M5 x .8] PORT - MIDPOINT OF ROTATION
[28.2] BARB FITTING
FOR 1/16 [1.6] ID TUBE SUPPLIED
1.500 .750
[38.1] 2 4 6-32 THREAD
[19] x .250 [M3 x 6] DP
.750
[19]
SEE DETAIL 3
BELOW
1.500 [38.1] .250 1.000
2.000 [50.8] 8-32 THREAD x .187 [5] [6.3] [25.4] 8-32 THREAD x .250 [M4 x 6] DP
[M4 x .7] DP 4X TOP & BOTTOM
4X FRONT & BACK ANGLE LIMITING SEGMENTS
ALLOW 180° MAX ROTATION
SHAFT KEYWAY: SHOWN AT MID-ROTATION - WOODRUFF KEY IS SUPPLIED WITH ALL ACTUATORS 0° MIN ROTATION
CAT-03
ROTATION: 180° MAXIMUM
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS
PORT CONTROLS: NOT AVAILABLE ON SERIES 0183752, 0188752 & 018x502 UNITS. PORT CONTROLS ARE
STANDARD ON ALL OTHER ACTUATORS.
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
DIMENSION
B SERIES A B C
+ .000
.250 - .001 .312 203
AØ AØ 018050
+ .0000
.2362 - .0003
2 mm SQ
C KEYWAY C KEYWAY 018650 —
+ .000 x 14 mm LG
6.0 - .007
IMPERIAL SHAFTS METRIC SHAFTS
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
DIMENSIONS: SERIES 018x502 MINIATURE ROTARY ACTUATORS
NOTES
3C
3C-7
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/018x
3C
3C-8
TO ORDER SPECIFY:
Type, Design No., Series, Angle of Rotation, and Options.
IMPERIAL
SERIES PORT CONTROL©
1 (000) 1" Bore Single Rack
2 (000) 1" Bore Double Rack
3 (000) 1-3/8" Bore Single Rack
(800) 624-8511
4 (000) 1-3/8" Bore Double Rack BUILT-IN METER OUT ANGLE ADJUSTMENT
www.phdinc.com/18000r
DESIGN NO. 5 (000) 2" Bore Single Rack FLOW CONTROL VALVE A - Angle adjustment both ends
1 - Imperial - Ports and mounting holes are imperial. 6 (000) 2" Bore Double Rack P - Flow control both directions A1 - Angle adjustment clockwise 30°
5 - Metric - Ports and mounting holes are metric. 7 (000) 3" Bore Single Rack P1 - Flow control clockwise A2 - Angle adjustment counterclockwise 30°
Pinion shafts and keyway are imperial. 8 (000) 3" Bore Double Rack P2 - Flow control counterclockwise (20° for Series 8000)
R1 1 A 2 180 - P - D - A - K-M-V
CAT-03
R11A - Single Shaft Ext. R15A - Single Shaft Ext. 45°, 90°, 180°, 270°, 360°, and 450° D1 - Cushion clockwise E - Magnetic Piston for Hall Effect Switch
150 psi Air Max. 10 bar Air Max. For other available rotations, D2 - Cushion counterclockwise G - Shaft Seal both sides
R21A - Double Shaft Ext. R25A - Double Shaft Ext. consult PHD. B - Shock Pads both directions H - Hollow Pinion Shaft (not available on type R21)
150 psi Air Max. 10 bar Air Max. B1 - Shock Pad clockwise I - Port Position 1 on top rack
R11H - Single Shaft Ext. R15H - Single Shaft Ext. B2 - Shock Pad counterclockwise Port Position 3 on bottom rack
1500 psi Hyd. Max. 100 bar Hyd. Max. (Available on Series 2000, 4000, 6000, and 8000 only.)
(Cushions and Shock Pads are
R21H - Double Shaft Ext. R25H - Double Shaft Ext. J - Hall Sensor (Set Point Module is ordered separately)
not available on the same end of
1500 psi Hyd. Max. 100 bar Hyd. Max. for rotations not exceeding 180°
actuator. Shock Pads are not
available for Hydraulic use.) K - Preload Keyway Pinion Shaft
NOTES: PROXIMITY SWITCH L - Counterclockwise Unidirectional Clutch
1) Sensor must be used with a PHD Set Point Module. MOUNTING BRACKETS M- Magnetic Piston for Reed Switch
See Switches and Sensors section for information SERIES SIZE NO. Options may affect unit length.
N - Pilot Valve Actuator (PVA)
and ordering data. See unit dimension and options O - Ports in Position 1*
1000 & 2000 -32 ! pages for adders.
2) Mounting flanges must be ordered separately. Q - Ports in Position 3*
3000 & 4000 -34 R - Clockwise Unidirectional Clutch
3) SAE Ports available. Consult PHD for sizes.
5000 & 6000 -38 S - SAE Ports (Hydraulic Units Only)
7000 & 8000 -39 T - Ports in Position 4
See Switches and Sensors V - Fluoro-Elastomer Seals
section for complete W- Close Tolerance Rotation, +30 minutes, -0
ordering information.
Z1 - Electroless Nickel Plate
SOLUTIONS FOR
ORDERING DATA: SERIES 1000-8000 ROTARY ACTUATORS
INDUSTRIAL AUTOMATION
UNITS WITH METRIC SHAFTS AND KEYWAY METRIC
TO ORDER SPECIFY:
Type, Design No., Series, Angle of Rotation, and Options.
SOLUTIONS FOR
1 (000) 1" Bore Single Rack
2 (000) 1" Bore Double Rack
3 (000) 1-3/8" Bore Single Rack
INDUSTRIAL AUTOMATION
4 (000) 1-3/8" Bore Double Rack BUILT-IN METER OUT ANGLE ADJUSTMENT
5 (000) 2" Bore Single Rack FLOW CONTROL VALVE A - Angle adjustment both ends
DESIGN NO. 6 (000) 2" Bore Double Rack P - Flow control both directions A1 - Angle adjustment clockwise 30°
6 - Metric - Ports and mounting holes, pinion 7 (000) 3" Bore Single Rack P1 - Flow control clockwise A2 - Angle adjustment counterclockwise 30°
shafts and keyway are metric. 8 (000) 3" Bore Double Rack P2 - Flow control counterclockwise (20° for Series 8000)
R1 6 A 2 180 - P - D - A - M-V
CAT-03
TYPE CUSHION OR SHOCK PAD OPTIONS
METRIC D - Cushions both directions E - Magnetic Piston for Hall Effect Switch
R16A - Single Shaft Ext. ANGLE OF ROTATION
STANDARD ANGLES D1 - Cushion clockwise I - Port Position 1 on top rack
10 bar Air Max. D2 - Cushion counterclockwise Port Position 3 on bottom rack
R26A - Double Shaft Ext. 45°, 90°, 180°, 270°, 360°, and 450°
For other available rotations, B - Shock Pads both directions (Available on Series 2000, 4000, 6000, and 8000 only.)
10 bar Air Max. B1 - Shock Pad clockwise M - Magnetic Piston for Reed Switch
R16H - Single Shaft Ext. consult PHD.
B2 - Shock Pad counterclockwise O - Ports in Position 1*
100 bar Hyd. Max. Q - Ports in Position 3*
R26H - Double Shaft Ext. (Cushions and Shock Pads are
not available on the same end of T - Ports in Position 4
100 bar Hyd. Max. V - Fluoro-Elastomer Seals
actuator. Shock Pads are not
available for Hydraulic use.) W - Close Tolerance Rotation, +30 minutes, -0
NOTES: PROXIMITY SWITCH Z1 - Electroless Nickel Plate
1) Sensor must be used with a PHD Set Point Module. MOUNTING BRACKETS
See Switches and Sensors section for information * Available on Series 1000, 3000, 5000, and 7000 only.
SERIES SIZE NO. Options may affect unit length.
and ordering data. See unit dimension and options
1000 & 2000 -32
2) Mounting flanges must be ordered separately. ! pages for adders.
3000 & 4000 -34
5000 & 6000 -38
7000 & 8000 -39
See Switches and Sensors
section for complete
(800) 624-8511
ordering information.
www.phdinc.com/18000r
ORDERING DATA: SERIES 1000-8000 ROTARY ACTUATORS
3C-9
3C
ROTARY ACTUATORS: SERIES 1000-8000
BENEFITS
■ PHD Series 1000-8000 Rotary Actuators are pneumatically or
hydraulically powered providing output torques up to
31,800 in-lb [3595 Nm].
■ Four bore sizes are available in single and double rack models
with standard rotations from 45° to 450°.
■ Sealed shaft ball bearings provide long life and maximum shaft
stability for heavy payloads.
3C
■ Available with a wide range of options including built-in flow OUTPUT TORQUES TO 31,800 in-lb [3595 Nm]
controls, cushions, angle adjustments, shock pads, and pinion
shaft options for specifying the exact actuator for your
application.
TYPE
SPECIFICATIONS R1xA & R2xA R1xH & R2xH
PISTON SEALS (3 Per Piston) Block Vee with Back-up Ring
PISTONS Free Floating Aluminum
TIERODS High Tensile Steel
TUBE SEALS Square Cut
PINION SHAFTS One Piece Alloy Steel
RACK Alloy Steel
END CAPS Zinc Plated Alloy Steel
BODY Hardcoated Aluminum
TUBES Hardcoated Aluminum Hardcoated Aluminum on Series 1000-4000
— Honed Steel on Series 5000-8000
BEARINGS (2) Steel Ball Bearings
PORTS NPT [BSP]
LUBRICATION Permanent for Non-Lube Air —
150 psi [10 bar] Air Max 1500 psi [100 bar] Hyd. Max.
STANDARD ROTATIONS 45°, 90°, 180°, 270°, 360°, 450°
OPTIONS Port Controls®, Cushions, Angle Adjustment,
Magnetic Pistons, Fluoro-Elastomer Seals
3C-10
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/18000r CAT-03 INDUSTRIAL AUTOMATION
ZA MAX A + (T° x B) ZA MAX
IMPERIAL
Y + (T° x Z)
PA O
H G NB +.001 DIA
-.000 U
F 1
SOLUTIONS FOR
OPTIONAL
X NPT ANGLE ADJUSTMENT
W KEYWAY
I II 2 4
INDUSTRIAL AUTOMATION
JA C2 C1 3
C V DIA Q
E M THREAD 3
4X EACH FRONT,
D BACK & BOTTOM S TA
LETTER DIMENSION
CAT-03
SERIES A B C D E F G H JA KA L M NB O PA Q R S TA U V W X Y Z ZA
1000 & 2000 5.698 .0174 3.000 2.000 1.500 .250 .500 0.00 .750 1.375 1.437 1/4-20 x .312 DP 1.125 x .056 DP 2.000 .875 2.000 .500 .250 1.500 .312 .4998/.5003 1/8 x 1/16 x .625 1/8 2.849 .0087 1.125
3000 & 4000 7.906 .026 4.250 3.000 2.000 .344 .688 .250 1.156 1.875 2.094 5/16-18 x .500 DP 2.000 x .039 DP 3.000 1.875 3.000 .625 .500 2.000 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 3.953 .013 1.500
5000 & 6000 9.126 .026 5.000 4.000 2.500 .375 .750 .203 1.156 2.250 2.281 3/8-16 x .625 DP 2.1654 x .052 DP 3.000 1.875 3.500 .750 .500 2.000 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 4.563 .013 1.875
7000 & 8000 12.160 .052 8.000 5.000 3.000 .469 1.062 .437 1.875 3.500 3.625 3/4-10 x 1.250 DP 3.3465 x .120 DP 5.000 3.500 5.000 1.500 1.250 2.500 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 6.080 .026 2.875
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY PORT PRESSURIZED - FULL CCW POSITION PORT PRESSURIZED - FULL CW POSITION
CUSHIONS: SERIES 1000 & 2000 ACTUATORS C1 ON SERIES 1000, 3000, 5000, & 7000 I II C2 ON SERIES 1000, 3000, 5000, & 7000
ADD 1/2" TO RESPECTIVE “A” AND “Y” DIMENSIONS FOR EACH CUSHION OR C1 & E ON SERIES 2000, 4000, 6000, & 8000 OR C2 & A ON SERIES 2000, 4000, 6000, & 8000
(800) 624-8511
www.phdinc.com/18000r
3C-11
3C
3C
3C-12
ZA MAX A + (T° x B) ZA MAX
METRIC
Y + (T° x Z)
PA O
H G NB +.025 DIA
-.000 U
F 1
OPTIONAL
X BSP ANGLE ADJUSTMENT
W KEYWAY
I II 2 4
(800) 624-8511
JA
www.phdinc.com/18000r
C2 C1 3
C V DIA Q
E M THREAD 3
4X EACH FRONT,
D BACK & BOTTOM S TA
CAT-03
3000 & 4000 201 0.66 108 76 50.8 9 17 6 29 48 53 M8 x 1.0 x 13 50.80 x 1.0 DP 76.2 48 76.2 16 13 50.8 14 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 1/4 100 0.33 38
5000 & 6000 232 0.66 127 102 63.5 10 19 5 29 57 58 M10 x 1.5 x 16 55.00 x 1.3 DP 76.2 48 88.9 19 13 50.8 10 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 1/4 116 0.33 48
7000 & 8000 302 1.33 203 127 76.2 12 27 11 48 89 92 M20 x 2.5 x 32 85.00 x 3.0 DP 127.0 89 127.0 38 32 63.5 19 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 3/8 154 0.66 73
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
UNITS WITH IMPERIAL SHAFTS AND KEYWAY IMPERIAL
TO ORDER SPECIFY:
Type, Design No., Series,
Angle of Rotation, and Options.
SOLUTIONS FOR
SERIES
2 (000) 1" Bore Double Rack
INDUSTRIAL AUTOMATION
DESIGN NO. 4 (000) 1-3/8" Bore Double Rack CUSHION ANGLE ADJUSTMENT
3 - Imperial - Ports and mounting holes are imperial 6 (000) 2" Bore Double Rack D - Cushions both directions A - Angle adjustment both ends
8 - Metric - Ports and mounting holes are metric. 8 (000) 3" Bore Double Rack D1 - Cushion clockwise A1 - Angle adjustment clockwise 30°
Pinon shaft and keyway are imperial. (Oil Section is 2" Bore) D2 - Cushion counterclockwise A2 - Angle adjustment counterclockwise 30°
3 R1 3 R - 2 180 - 90 - D - A - M-V
CAT-03
3 ROTARY POSITIONS TYPE ANGLE OF ROTATION OPTIONS
Use this digit for 3 IMPERIAL METRIC STANDARD ANGLES C - Cross Key Pinion Shaft
Position Tandems only. R13R - Single Shaft Ext. R18R - Single Shaft Ext. 45°, 90°, 180°, 270°, E - Magnetic Piston for Hall Effect Switch
Air/Oil Tandem Air/Oil Tandem 360°, and 450° G - Shaft Seal both sides
R23R - Double Shaft Ext. R28R - Double Shaft Ext. For other available H - Hollow Pinion Shaft (not available on type R23R)
Air/Oil Tandem Air/Oil Tandem rotations, consult PHD. I - Port Position 1 top rack
Port Position 3 bottom rack
J - Hall Sensor (Set Point Module is ordered
NOTE: Sensor must be used with a PHD PORT CONTROL© PROXIMITY SWITCH separately) for units not exceeding 180°
Set Point Module. See Switches and MOUNTING BRACKETS ANGLE OF ROTATION K - Preload Keyway Pinion Shaft
Sensors section for information and SERIES SIZE NO. FROM POSITION I L - Counterclockwise Unidirectional Clutch
ordering data. TO POSITION II M - Magnetic Piston for Reed Switch
2000 -32
BUILT-IN METER OUT Use this digit for 3 N - Pilot Valve Actuator (PVA)
4000 -34
FLOW CONTROL VALVE Position Tandems only. R - Clockwise Unidirectional Clutch
6000 -38 T - Port in Position 4
Port Control is standard on 8000 -39
all Air/Oil Tandem Actuators. V - Fluoro-Elastomer Seals
Options may affect unit length. See Switches and Sensors
See unit dimension and options W - Close Tolerance Rotation, +30 minutes, -0
! pages for adders. section for complete Y - Tandem Cap rotated 180°
ordering information.
Z1- Electroless Nickel Plate
ORDERING DATA: AIR/OIL TANDEM ROTARY ACTUATORS
(800) 624-8511
www.phdinc.com/28000r
3C-13
3C
3C
3C-14
UNITS WITH METRIC SHAFTS AND KEYWAY METRIC
TO ORDER SPECIFY:
(800) 624-8511
www.phdinc.com/28000r
Type, Design No., Series,
Angle of Rotation, and Options.
SERIES
2 (000) 1" Bore Double Rack
4 (000) 1-3/8" Bore Double Rack CUSHION ANGLE ADJUSTMENT
DESIGN NO. 6 (000) 2" Bore Double Rack D - Cushions both directions A - Angle adjustment both ends
9 - Metric - Ports, mounting holes, pinion 8 (000) 3" Bore Double Rack D1 - Cushion clockwise A1 - Angle adjustment clockwise 30°
shaft and keyway are metric. (Oil Section is 2" Bore) D2 - Cushion counterclockwise A2 - Angle adjustment counterclockwise 30°
3 R1 9 R - 2 180 - 90 - D - A - M-V
CAT-03
3 ROTARY POSITIONS TYPE ANGLE OF ROTATION ANGLE OF ROTATION OPTIONS
Use this digit for 3 R19R - Single Shaft Ext. STANDARD ANGLES FROM POSITION I E - Magnetic Piston for Hall Effect Switch
Position Tandems only. Air/Oil Tandem 45°, 90°, 180°, 270°, TO POSITION II I - Port Position 1 top rack
R29R - Double Shaft Ext. 360°, and 450° Use this digit for 3 Port Position 3 bottom rack
Air/Oil Tandem For other available Position Tandems only. M - Magnetic Piston for Reed Switch
rotations, consult PHD. T - Port in Position 4
V - Fluoro-Elastomer Seals
W - Close Tolerance Rotation, +30 minutes, -0
NOTE: Sensor must be used with a PHD Set PORT CONTROL© PROXIMITY SWITCH Y - Tandem Cap rotated 180°
Point Module. See Switches and Sensors section MOUNTING BRACKETS Z1- Electroless Nickel Plate
for information and ordering data. SERIES SIZE NO.
2000 -32 Options may affect unit length.
BUILT-IN METER OUT 4000 -34 See unit dimension and options
FLOW CONTROL VALVE 6000 -38
! pages for adders.
ORDERING DATA: AIR/OIL TANDEM ROTARY ACTUATORS
SOLUTIONS FOR
all Air/Oil Tandem Actuators.
See Switches and Sensors
section for complete
ordering information.
INDUSTRIAL AUTOMATION
AIR/OIL TANDEM ROTARY ACTUATORS:
SERIES 2000-8000
BENEFITS
■ PHD Air/Oil Tandem Actuators provide smooth consistent
rotary motion even at low speeds for applications requiring
positive control of payload.
3C
rotation speed.
OUTPUT TORQUES TO 1,590 in-lb [179 Nm]
■ Free floating pistons with rack and pinion design eliminate
binding for low breakaway and long unit life.
■ Sealed shaft ball bearings provide long life and maximum shaft A
stability for heavy payloads.
3C-15
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/28000r
3C
3C-16
RESERVOIR ASSEMBLY IS INCLUDED WITH UNIT.
IMPERIAL
DIMENSIONAL DATA IS IN AIR/OIL & RESERVOIR SECTION 10.
SERIES 2000, 4000, & 6000 UNITS USE PART NO. 13459-03-2.
SERIES 8000 UNITS USE PART NO. 13459-02-2.
(800) 624-8511
www.phdinc.com/28000r
ZA MAX A + (T° x B) PA O
Y + (T° x Z) U2
NB +.001 DIA U1 LB
H G -.000
F 1.000 .080 1
2X PORT CONTROLS
2X
X NPT 2X BLEED PLUGS
W KEYWAY
I II 2 4 CHECK VALVE
FITTING
JA
C2 LA
C V DIA Q
L
C/2 LA/2 2 4 SPECIFIED BY R2xR
KA SQ III IV WHEN ORDERING
E R
CAT-03
E M THREAD 3
OPTIONAL 4X EACH FRONT,
ANGLE ADJUSTMENT D S TA
BACK & BOTTOM
LETTER DIMENSION
SERIES A B C D E F G H JA KA L LA LB M NB O PA Q R S TA U1 U2 V W X Y Z ZA
2000 6.215 .0174 3.000 2.000 1.500 .250 .500 0.00 .750 1.375 1.437 2.875 1.750 1/4-20 x .312 DP 1.125 x .056 DP 2.000 .875 2.000 .500 .250 1.500 .125 .312 .4998/.5003 1/8 x 1/16 x .625 1/8 2.849 .0087 1.125
4000 7.986 .026 4.250 3.000 2.000 .344 .688 .250 1.156 1.875 2.094 4.187 2.750 5/16-18 x .500 DP 2.000 x .039 DP 3.000 1.875 3.000 .625 .500 2.000 .125 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 3.953 .013 1.500
6000 9.190 .026 5.000 4.000 2.500 .375 .750 .203 1.156 2.250 2.281 4.687 2.750 3/8-16 x .625 DP 2.1654 x .052 DP 3.000 1.875 3.500 .750 .500 2.000 .125 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 4.563 .013 1.875
8000 11.128 .052 8.000 5.000 3.000 .469 1.062 .437 1.875 3.500 3.625 6.125 3.000 3/4-10 x 1.250 DP 3.3465 x .120 DP 5.000 3.500 5.000 1.500 1.250 2.500 1.000 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 6.080 .026 2.875
TYPE -A1 -A2 -D1 -D2 -P1 -P2 -M -E PORT -P -D PORT -P -D 4000 9.156 10.326 12.666 15.006 17.346 19.686
R1xR & R2xR III I II IV STANDARD I & III I & III 2 4 4 4 4 4 6000 10.360 11.530 13.870 16.210 18.550 20.890
8000 13.468 15.808 20.488 25.168 29.848 34.528
T°
SHAFT KEYWAY: SHOWN AT MID-ROTATION
SOLUTIONS FOR
PORT POSITION: INDICATED BY CIRCLED NUMBERS PORT PRESSURIZED - E I II PORT PRESSURIZED - C2
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY FULL CCW POSITION FULL CW POSITION
INDUSTRIAL AUTOMATION
RESERVOIR ASSEMBLY IS INCLUDED WITH UNIT.
SERIES 2000, 4000, & 6000 UNITS USE PART NO. 68397-03-2. METRIC
SERIES 8000 UNITS USE PART NO. 68397-02-2.
NOTE: THE RESERVOIR SHOULD HAVE 1.4 bar PRESSURE AT ALL TIMES
TO ENSURE THE SYSTEM REMAINS PURGED.
SOLUTIONS FOR
ZA MAX A + (T° x B) PA O
Y + (T° x Z) U2
INDUSTRIAL AUTOMATION
U1 LB
H G NB +.025 DIA
-.000 25.4 2.1 1
F
2X PORT CONTROLS
2X
X BSP 2X BLEED PLUGS
W KEYWAY
I II 2 4 CHECK VALVE
FITTING
JA
C2 LA
C V DIA Q
L
C/2 LA/2 2 4 SPECIFIED BY R2xR
KA SQ III IV WHEN ORDERING
E R
E M THREAD 3
OPTIONAL 4X EACH FRONT,
CAT-03
ANGLE ADJUSTMENT D S TA
BACK & BOTTOM
LETTER DIMENSION
IMPERIAL SHAFTS* METRIC SHAFTS*
SERIES A B C D E F G H JA KA L LA LB M NB O PA Q R S TA V W V W U1 U2 X Y Z ZA
2000 158 0.44 76 51 38.1 6 13 0 19 35 36 73 44 M6 x 1.0 x 8 28.58 X 1.4 50.8 22 50.8 13 6 38.1 12.69/12.71 3.15 x 1.59 x 16 12.00/11.97 4 x 2.5 x 15 3 8 G1/8 72 0.22 29
4000 203 0.66 108 76 50.8 9 17 6 29 48 53 106 70 M8 x 1.0 x 13 50.80 X 1.0 76.2 48 76.2 16 13 50.8 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 3 14 G1/4 100 0.33 38
6000 233 0.66 127 102 63.5 10 19 5 29 57 58 119 70 M10 x 1.5 x 16 55.00 X 1.3 76.2 48 88.9 19 13 50.8 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 3 10 G1/4 116 0.33 48
8000 283 1.32 203 127 76.2 12 27 11 48 89 92 156 76 M20 x 2.5 x 32 85.00 X 3.0 127.0 89 127 38 32 63.5 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 25 19 G3/8 154 0.66 73
* BOTH IMPERIAL AND METRIC SHAFT OPTIONS AVAILABLE ON METRIC BODY
(IMPERIAL SHAFT = DESIGN 8, AND METRIC SHAFT = DESIGN 9).
NUMBERS FOR METRIC UNITS AND ARE IN mm. QUICK REFERENCE FOR: A + (T° x B)
DEGREE OF ROTATION
SERIES 45 90 180 270 360 450
OPTION LOCATION REFERENCE 2000 177.7 197.6 237.4 277.2 317.0 356.7
LETTER OPTION PORT & NEEDLE LOCATIONS 4000 232.6 262.2 321.7 381.2 440.6 500.0
DIMENSIONS: AIR/OIL TANDEM ROTARY ACTUATORS
REFERENCED BY TUBE NUMBER REFERENCED BY CIRCLED NUMBERS 6000 263.1 292.9 352.3 411.7 471.2 530.9
ACTUATOR -A -D -P STANDARD -T 8000 342.1 401.5 520.4 639.3 758.1 877.0
TYPE -A1 -A2 -D1 -D2 -P1 -P2 -M -E PORT -P -D PORT -P -D
R1xR & R2xR III I II IV STANDARD I & III I & III 2 4 4 4 4 4 T°
(800) 624-8511
PORT PRESSURIZED - E I II PORT PRESSURIZED - C2
www.phdinc.com/28000r
FULL CCW POSITION FULL CW POSITION
SHAFT KEYWAY: SHOWN AT MID-ROTATION
PORT POSITION: INDICATED BY CIRCLED NUMBERS
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
3C-17
3C
3C
3C-18
RESERVIOR ASSEMBLY IS INCLUDED WITH UNIT.
DIMENSIONAL DATA IS IN AIR/OIL & RESERVOIR SECTION 10.
IMPERIAL
SERIES 2000, 4000, & 6000 UNITS USE PART NO. 13459-03-2.
SERIES 8000 UNITS USE PART NO. 13459-02-2.
(800) 624-8511
PA O
www.phdinc.com/28000r
ZA MAX YA + Z (T° + J°) Y + ( T° x Z )
U2
H G FA YB + (T° x Z) +.001
NB -.000 DIA U1 LB
F GA 1.000 .080 1
4X 2X PORT CONTROLS
X NPT 2X BLEED PLUGS W KEYWAY
V I II 2 4 CHECK VALVE
FITTING
JA
C D1 C2 LA V DIA Q
C/2 LA/2
L KA SQ
VI III IV 2 4 SPECIFIED BY
3R2xR WHEN
ORDERING
D2 E R
CAT-03
YA + Z (T° + K) 3
OPTIONAL E M THREAD S TA
ANGLE ADJUSTMENT D 4X EACH FRONT,
BACK & BOTTOM
LETTER DIMENSION
SERIES C D E F FA G GA H JA KA L LA LB M NB O PA Q R S TA U1 U2 V W X Y YA YB Z ZA
2000 3.000 2.000 1.500 .500 .500 .750 .750 0.00 .750 1.375 1.437 2.875 1.750 1/4-20 x .312 DP 1.125 x .056 DP 2.000 .875 2.000 .500 .250 1.500 .125 .312 .4998/.5003 1/8 x 1/16 x .625 1/8 3.366 5.983 2.599 .0087 1.125
4000 4.250 3.000 2.000 .344 .375 .688 .719 .250 1.156 1.875 2.094 4.187 2.750 5/16-18 x .500 DP 2.000 x .039 DP 3.000 1.875 3.000 .625 .500 2.000 .125 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 4.033 6.721 3.360 .013 1.500
DIMENSIONS: 3 POSITION AIR/OIL TANDEM
6000 5.000 4.000 2.500 .375 .344 .750 .719 .203 1.156 2.250 2.281 4.687 2.750 3/8-16 x .625 DP 2.1654 x .052 DP 3.000 1.875 3.500 .750 .500 2.000 .125 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 4.627 7.325 3.980 .013 1.875
8000 8.000 5.000 3.000 .469 .469 1.062 1.062 .437 1.875 3.500 3.625 6.125 3.000 3/4-10 x 1.250 DP 3.3465 x .120 DP 5.000 3.500 5.000 1.500 1.250 2.500 1.000 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 5.048 9.865 5.236 .026 2.875
SOLUTIONS FOR
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS J° K°
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY PORT PRESSURIZED - E PORT PRESSURIZED - C2
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION FULL CCW POSITION I III FULL CW POSITION
INDUSTRIAL AUTOMATION
RESERVIOR ASSEMBLY IS INCLUDED WITH UNIT.
SERIES 2000, 4000, & 6000 UNITS USE PART NO. 68397-03-2.
SERIES 8000 UNITS USE PART NO. 68397-02-2.
METRIC
NOTE: THE RESERVOIR SHOULD HAVE 1.4 BAR PRESSURE AT ALL TIMES
TO ENSURE THE SYSTEM REMAINS PURGED.
PA O
SOLUTIONS FOR
ZA MAX YA + Z (T° + J°) Y + ( T° x Z )
U2
H G FA YB + (T° x Z) +.025
NB -.000 DIA U1 LB
F GA 25.4 2.1 1
INDUSTRIAL AUTOMATION
4X 2X PORT CONTROLS
X BSP 2X BLEED PLUGS W KEYWAY
V I II 2 4 CHECK VALVE
FITTING
JA
C D1 C2 LA V DIA Q
C/2 LA/2
L KA SQ
VI III IV 2 4 SPECIFIED BY
3R2xR WHEN
ORDERING
D2 E R
YA + Z (T° + K) 3
OPTIONAL E M THREAD S TA
ANGLE ADJUSTMENT D 4X EACH FRONT,
BACK & BOTTOM
CAT-03
LETTER DIMENSION
IMPERIAL SHAFTS* METRIC SHAFTS*
SERIES C D E F FA G GA H JA KA L LA LB M NB O PA Q R S TA U1 U2 V W V W X Y YA YB Z ZA
2000 76 51 38.1 13 13 19 19 0 19 35 36 73.0 44.5 M6 x 1.0 x 8 28.58 x 1.4 DP 50.8 22 50.8 13 6 38.1 3 8 12.69/12.71 3.15 x 1.59 x 16 12.00/11.97 4 x 2.5 x 15 G1/8 85 152 66 0.22 29
4000 108 76 50.8 9 10 17 18 6 29 48 53 106.4 69.9 M8 x 1.0 x 13 50.80 x 1.0 DP 76.2 48 76.2 16 13 50.8 3 14 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 G1/4 102 171 85 0.33 38
6000 127 102 63.5 10 9 19 18 5 29 57 58 119.1 69.9 M10 x 1.5 x 16 55.00 x 1.3 DP 76.2 48 88.9 19 13 50.8 3 10 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 G1/4 118 186 101 0.33 48
8000 203 127 76.2 12 12 27 27 11 48 89 92 155.6 76.2 M20 x 2.5 x 32 85.00 x 3.0 DP 127.0 89 127.0 38 32 63.5 25 19 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 G3/8 128 251 133 0.66 73
* BOTH IMPERIAL AND METRIC SHAFT OPTIONS AVAILABLE ON METRIC BODY
DIMENSIONS: 3 POSITION AIR/OIL TANDEM
K°
(800) 624-8511
SHAFT KEYWAY: SHOWN AT MID-ROTATION J°
PORT PRESSURIZED - E PORT PRESSURIZED - C2
www.phdinc.com/28000r
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS FULL CCW POSITION I III FULL CW POSITION
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION
3C-19
3C
3C
3C-20
TO ORDER SPECIFY:
No. of Rotary Positions, Type, Design No., Series,
IMPERIAL
Total Angle of Rotation, Various Angle Positions,
and Options.
SERIES
2 (000) 1" Bore Double Rack
(800) 624-8511
NO. OF
www.phdinc.com/multir
4 (000) 1-3/8" Bore Double Rack
ROTARY POSITIONS DESIGN NO. 6 (000) 2" Bore Double Rack ANGLE OF ROTATION
3 - 3 Position 1 - Imperial - Port and mounting holes are imperial. 8 (000) 3" Bore Double Rack ANGLE OF ROTATION FROM POSITION I
4 - 4 Position 5 - Metric - Port and mounting holes are metric. NOTE: 2000 Series available in FROM POSITION I TO POSITION IV. USED
5 - 5 Position Pinion shafts and keyway are imperial. 3 Position only. TO POSITION II ON 5 POSITION ONLY.
CAT-03
TYPE TOTAL ANGLE ANGLE OF ROTATION OPTIONS
IMPERIAL METRIC OF ROTATION FROM POSITION I B - Shock Pads on extreme positions (not
R11A - Single Shaft Ext. R15A - Single Shaft Ext. STANDARD ANGLES TO POSITION III. USED available on hydraulic units)
150 psi Air Max. 10 bar Air Max. ON 4 & 5 POSITION ONLY. C - Cross Key Pinion Shaft
R21A - Double Shaft Ext. R25A - Double Shaft Ext. D - Cushions on extreme positions
150 psi Air Max. 10 bar Air Max. E - Magnetic Piston (All) or Hall Effect Switch
R11H - Single Shaft Ext. R15H - Single Shaft Ext. G - Shaft Seal both sides
1500 psi Hyd. Max. 100 bar Hyd. Max. H - Hollow Pinion Shaft (not available on type
R21H - Double Shaft Ext. R25H - Double Shaft Ext. PROXIMITY SWITCH R21x)
Options may affect unit length.
1500 psi Hyd. Max. 100 bar Hyd. Max. See unit dimension and options MOUNTING BRACKETS I - Port Position 1 on top rack
! pages for adders. Port Position 3 on bottom rack
SERIES SIZE NO.
J - Hall Sensor for rotations not exceeding 180°
NOTES: 2000 -32 (Set Point Module is ordered separately)
1) Angle Adjustments are standard on all Multi-Position 4000 -34 K - Preload Keyway Pinion Shaft
Rotary Actuators. 6000 -38 M - Magnetic Piston (All) for Reed Switch
2) Sensor must be used with a PHD Set Point Module.
8000 -39 P - Port Controls on all caps
See Switches and Sensors section for information
See Switches and Sensors T - Port in Position 4
and ordering data. section for complete V - Fluoro-Elastomer Seals
ORDERING DATA: MULTI-POSITION ROTARY ACTUATORS
ordering information.
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
METRIC
UNITS WITH METRIC SHAFTS AND KEYWAY
TO ORDER SPECIFY:
SOLUTIONS FOR
No. of Rotary Positions, Type, Design No., Series,
Total Angle of Rotation, Various Angle Positions,
and Options.
SERIES
INDUSTRIAL AUTOMATION
2 (000) 1" Bore Double Rack
NO. OF 4 (000) 1-3/8" Bore Double Rack
ROTARY POSITIONS 6 (000) 2" Bore Double Rack ANGLE OF ROTATION
3 - 3 Position DESIGN NO. 8 (000) 3" Bore Double Rack ANGLE OF ROTATION FROM POSITION I
4 - 4 Position 6 - Metric - Ports, mounting holes, NOTE: 2000 Series available in FROM POSITION I TO POSITION IV. USED
5 - 5 Position pinion shafts and keyway are metric. 3 Position only. TO POSITION II ON 5 POSITION ONLY.
CAT-03
TYPE TOTAL ANGLE ANGLE OF ROTATION OPTIONS
R16A - Single Shaft Ext. OF ROTATION FROM POSITION I B - Shock Pads on extreme positions (not
10 bar Air Max. STANDARD ANGLES TO POSITION III. USED available on hydraulic units)
R26A - Double Shaft Ext. ON 4 & 5 POSITION ONLY. D - Cushions on extreme positions
10 bar Air Max. E - Magnetic Piston (All) or Hall Effect Switch
R16H - Single Shaft Ext. G - Shaft Seal both sides
PROXIMITY SWITCH M - Magnetic Piston (All) for Reed Switch
100 bar Hyd. Max.
MOUNTING BRACKETS P - Port Controls on all caps
R26H - Double Shaft Ext.
100 bar Hyd. Max. SERIES SIZE NO. T - Port in Position 4
2000 -32 V - Fluoro-Elastomer Seals
4000 -34
NOTES:
1) Angle Adjustments are standard on all Multi-Position 6000 -38 Options may affect unit length.
8000 -39 See unit dimension and options
Rotary Actuators. ! pages for adders.
2) Sensor must be used with a PHD Set Point Module. See Switches and Sensors
See Switches and Sensors section for information section for complete
ORDERING DATA: MULTI-POSITION ROTARY ACTUATORS
(800) 624-8511
ordering information.
and ordering data.
www.phdinc.com/multir
3C-21
3C
MULTI-POSITION ROTARY ACTUATORS:
SERIES 2000-8000
BENEFITS
■ PHD Multi-Position Rotary Actuators are offered in
3, 4, or 5 output shaft positions ideal for feeding and
positioning applications.
TYPE
SPECIFICATIONS R1xA & R2xA R1xH & R2xH
PISTON SEALS (3 Per Piston) Block Vee with Back-up Ring
PISTONS Free Floating Aluminum
TUBE SEALS Square Cut
PINION SHAFTS One Piece Alloy Steel
RACKS Alloy Steel
END CAPS Zinc Plated Steel
BODY Hardcoated Aluminum
TUBES Hardcoated Aluminum Hardcoated Aluminum on Series 2000 & 4000
— Honed Steel on Series 6000 & 8000
BEARINGS (2) Steel Ball Bearings
PORTS NPT [BSP]
LUBRICATION Permanent for Non-Lube Air —
WORKING PRESSURE 150 psi [10 bar] Air Max. 1500 psi [100 bar] Hyd. Max.
STANDARD ROTATIONS 45°, 90°, 180°, 270°, 360°, 450°
OPTIONS Port Controls®, Cushions, Magnetic Pistons,
Fluoro-Elastomer Seals (Angle Adjustment is standard)
3C-22
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/multir CAT-03 INDUSTRIAL AUTOMATION
ZA MAX A + (T° x B) ZA MAX
IMPERIAL
Y + (T° x Z)
H G +.001
NB -.000 DIA PA O
F U 1
SOLUTIONS FOR
4X
X NPT
W KEYWAY
I II 2 4
INDUSTRIAL AUTOMATION
JA
C
C2 C1
V DIA Q
C/2 L KA SQ 2 4
III IV
SPECIFIED BY 3R21x
E A R WHEN ORDERING
E 3
D M THREAD S TA
4X EACH FRONT,
BACK & BOTTOM
LETTER DIMENSION
CAT-03
SERIES A B C D E F G H JA KA L M NB O PA Q R S TA U V W X Y Z ZA
2000 5.698 .0174 3.000 2.000 1.500 .250 .500 0.00 .750 1.375 1.437 1/4-20 x .312 DP 1.125 x .056 DP 2.000 .875 2.000 .500 .250 1.500 .312 .4998/.5003 1/8 x 1/16 x .625 1/8 2.849 .0087 1.125
4000 7.906 .026 4.250 3.000 2.000 .344 .688 .250 1.156 1.875 2.094 5/16-18 x .500 DP 2.000 x .039 DP 3.000 1.875 3.000 .625 .500 2.000 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 3.953 .013 1.500
6000 9.126 .026 5.000 4.000 2.500 .375 .750 .203 1.156 2.250 2.281 3/8-16 x .625 DP 2.1654 x .052 DP 3.000 1.875 3.500 .750 .500 2.000 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 4.563 .013 1.875
8000 12.160 .052 8.000 5.000 3.000 .469 1.062 .437 1.875 3.500 3.625 3/4-10 x 1.250 DP 3.3465 x .120 DP 5.000 3.500 5.000 1.500 1.250 2.500 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 6.080 .026 2.875
PORTS PRESSURIZED
C1 & C2
SHAFT KEYWAY: SHOWN AT MID-ROTATION
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS
II
CUSHIONS: SERIES 2000 ACTUATORS: T°
ADD 1/2" TO RESPECTIVE “A” AND “Y” DIMENSION FOR EACH CUSHION
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY I° R°
STOP TUBES: LOCATED IN TUBES I & II PORT PRESSURIZED - E PORT PRESSURIZED - A
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION FULL CCW POSITION I III FULL CW POSITION
(800) 624-8511
www.phdinc.com/multir
3C-23
3C
3C
3C-24
ZA MAX A + (T° x B) ZA MAX
Y + (T° x Z)
METRIC
H G +.025
NB -.000 DIA PA O
F U 1
4X
X BSP
W KEYWAY
I II 2 4
(800) 624-8511
JA
www.phdinc.com/multir
C
C2 C1
V DIA Q
C/2 L KA SQ 2 4
III IV
SPECIFIED BY 3R2xx
E A R WHEN ORDERING
E 3
D M THREAD S TA
4X EACH FRONT,
BACK & BOTTOM
LETTER DIMENSION
IMPERIAL SHAFTS* METRIC SHAFTS*
SERIES A B C D E F G H JA KA L M NB O PA Q R S TA U V W V W X Y Z ZA
2000 145 0.44 76 51 38.1 6 13 0 19 35 36 M6 x 1.0 x 8 28.58 x 1.4 DP 50.8 22 50.8 13 6 38.1 8 12.69/12.71 3.15 x 1.59 x 16 12.00/11.97 4 x 2.5 x 15 G1/8 72 0.22 29
CAT-03
4000 201 0.66 108 76 50.8 9 17 6 29 48 53 M8 x 1.0 x 13 50.80 x 1.0 DP 76.2 48 76.2 16 13 50.8 14 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 G1/4 100 0.33 38
6000 292 0.66 127 102 63.5 10 19 5 29 57 58 M10 x 1.5 x 16 55.00 x 1.3 DP 76.2 48 88.9 19 13 50.8 10 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 G1/4 116 0.33 48
8000 302 1.32 203 127 76.2 12 27 11 48 89 92 M20 x 2.5 x 32 85.00 x 3.0 DP 127.0 89 127.0 38 32 63.5 19 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 G3/8 154 0.66 73
* BOTH IMPERIAL AND METRIC SHAFT OPTIONS AVAILABLE ON METRIC BODY
(IMPERIAL SHAFT = DESIGN 5, AND METRIC SHAFT = DESIGN 6).
NUMBERS FOR METRIC UNITS AND ARE IN mm. QUICK REFERENCE FOR: A + (T° x B)
DEGREE OF ROTATION
SERIES 45 90 180 270 360 450
2000 164.6 184.5 224.2 264.1 303.8 343.6
4000 230.5 260.2 319.8 379.1 438.6 498.0
OPTION LOCATION REFERENCE 6000 261.5 291.1 410.8 350.7 469.5 529.0
LETTER OPTION PORT & NEEDLE LOCATIONS 8000 368.3 427.7 539.6 546.6 784.4 903.2
REFERENCED BY TUBE NUMBER REFERENCED BY CIRCLED NUMBERS
PORTS PRESSURIZED
ACTUATOR STANDARD -T
C1 & C2
DIMENSIONS: 3 POSITION ROTARY ACTUATORS
I° R°
SHAFT KEYWAY: SHOWN AT MID-ROTATION PORT PRESSURIZED - E PORT PRESSURIZED - A
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS FULL CCW POSITION I III FULL CW POSITION
CUSHIONS: SERIES 2000 ACTUATORS:
ADD 13.0 mm TO RESPECTIVE “A” AND “Y” DIMENSION FOR EACH CUSHION
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
SOLUTIONS FOR
STOP TUBES: LOCATED IN TUBES I & II
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION
INDUSTRIAL AUTOMATION
IMPERIAL
SOLUTIONS FOR
FA YB + (T° x Z) +.001 G
H G NB -.000 DIA H PA O
GA F U 1
F
INDUSTRIAL AUTOMATION
6X X NPT
W KEYWAY
V I II 2 4
JA
C D1 C2 C1
V DIA Q
C/2
L 2 4
KA SQ VI III IV
SPECIFIED BY 4R21x
D2 E A R WHEN ORDERING
YA + Z (T° + K°) 3
E M THREAD S TA
D 4X EACH FRONT,
BACK & BOTTOM
CAT-03
LETTER DIMENSION
SERIES C D E F FA G GA H JA KA L M NB O PA Q R S TA U V W X Y YA YB Z ZA
4000 4.250 3.000 2.000 .344 .375 .688 .719 .250 1.156 1.875 2.094 5/16-18 x .500 DP 2.000 x .039 3.000 1.875 3.000 .625 .500 2.000 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 3.953 6.721 3.360 .013 1.500
6000 5.000 4.000 2.500 .375 .344 .750 .719 .203 1.156 2.250 2.281 3/8-16 x .625 DP 2.1654 x .052 3.000 1.875 3.500 .750 .500 2.000 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 4.563 7.325 3.980 .013 1.875
8000 8.000 5.000 3.000 .469 .469 1.062 1.062 .437 1.875 3.500 3.625 3/4-10 x 1.250 DP 3.3465 x .120 5.000 3.500 5.000 1.500 1.250 2.500 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 6.080 9.865 5.236 .026 2.875
4R11H & 4R21H STANDARD N/A II & IV ALL ALL ALL 2 1&3 1&3 4 1&3 1&3
(800) 624-8511
www.phdinc.com/multir
3C-25
3C
3C
3C-26
METRIC
YA + Z (T° + J°) Y + (T° x Z) ZA MAX
FA YB + (T° x Z) +.025 G
H G NB -.000 DIA H PA O
GA F U 1
F
6X X BSP
(800) 624-8511
www.phdinc.com/multir
W KEYWAY
V I II 2 4
JA
C D1 C2 C1
V DIA Q
C/2
L 2 4
KA SQ VI III IV
SPECIFIED BY 4R2xx
D2 E A R WHEN ORDERING
YA + Z (T° + K°) 3
E M THREAD S TA
D 4X EACH FRONT,
BACK & BOTTOM
LETTER DIMENSION
CAT-03
IMPERIAL SHAFTS* METRIC SHAFTS*
SERIES C D E F FA G GA H JA KA L M NB O PA Q R S TA U V W V W X Y YA YB Z ZA
4000 108 76 50.8 9 10 17 18 6 29 48 53 M8 x 1.25 x 13 50.80 x 1.0 DP 76.2 48 76.2 16 13 50.8 14 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 G1/4 102 171 85 0.33 38
6000 127 102 63.5 10 9 19 18 5 29 57 58 M10 x 1.5 x 16 55.00 x 1.3 DP 76.2 48 88.9 19 13 50.8 10 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 G1/4 118 186 101 0.33 48
8000 203 127 76.2 12 12 27 27 11 48 89 92 M20 x 2.5 x 32 85.00 x 3.0 DP 127.0 89 127.0 38 32 63.5 19 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 G3/8 126 251 133 0.66 73
* BOTH IMPERIAL AND METRIC SHAFT OPTIONS AVAILABLE ON METRIC BODY
(IMPERIAL SHAFT = DESIGN 5, AND METRIC SHAFT = DESIGN 6).
NUMBERS FOR METRIC UNITS AND ARE IN mm.
TYPE -A -B -D -P -M
4R1xA & 4R2xA STANDARD II & IV II & IV ALL ALL ALL 2 1&3 1&3 4 1&3 1&3 PORTS PRESSURIZED T° PORTS PRESSURIZED
4R15xH & 4R2xH STANDARD N/A II & IV ALL ALL ALL 2 1&3 1&3 4 1&3 1&3 D1 & D2
II III C1 & C2
K°
I°
SHAFT KEYWAY: SHOWN AT MID-ROTATION J° R°
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS PORTS PRESSURIZED – E PORTS PRESSURIZED – A
FULL CCW POSITION I IV FULL CW POSITION
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
STOP TUBES: LOCATED IN TUBES I & II
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
IMPERIAL
ZA MAX YA + Z (T° + J°) YA + Z (T° + N°) ZA MAX
FA YB + (T° x Z) YB + (T° x Z) FA G H
PA O
SOLUTIONS FOR
H G +.001
NB -.000 DIA U 1
F GA GA F
8X
X NPT
INDUSTRIAL AUTOMATION
W KEYWAY
V I II VII 2 4
JA
D1 C2 C1 B1
C
V DIA Q
C/2 L
KA SQ VI III IV VIII 2 4
B2 SPECIFIED BY
D2 E A R 5R21x WHEN
ORDERING
YA + Z (T° + K°) YA + Z (T° x P°) 3
E M THREAD S TA
D 4X EACH FRONT,
BACK & BOTTOM
CAT-03
LETTER DIMENSION
SERIES C D E F FA G GA H JA KA L M NB O PA Q R S TA U V W X YA YB Z ZA
4000 4.250 3.000 2.000 .344 .375 .688 .719 .250 1.156 1.875 2.094 5/16-18 x .500 DP 2.000 x .039 DP 3.000 1.875 3.000 .625 .500 2.000 .562 .8748/.8753 3/16 x 3/32 x 1.500 1/4 6.721 3.360 .013 1.500
6000 5.000 4.000 2.500 .375 .344 .750 .719 .203 1.156 2.250 2.281 3/8-16 x .625 DP 2.1654 x .052 DP 3.000 1.875 3.500 .750 .500 2.000 .375 1.124/1.125 1/4 x 1/8 x 1.500 1/4 7.325 3.980 .013 1.875
8000 8.000 5.000 3.000 .469 .469 1.062 1.062 .437 1.875 3.500 3.625 3/4-10 x 1.250 DP 3.3465 x .120 DP 5.000 3.500 5.000 1.500 1.250 2.500 .750 1.749/1.750 3/8 x 3/16 x 3.000 3/8 9.865 5.236 .026 2.875
(800) 624-8511
www.phdinc.com/multir
3C-27
3C
3C
3C-28
METRIC
ZA MAX YA + Z (T° + J°) YA + Z (T° + N°) ZA MAX
FA YB + (T° x Z) YB + (T° x Z) FA G H
H G +.025 PA O
GA
NB -.000 DIA
GA U 1
F F
8X
X BSP
W KEYWAY
(800) 624-8511
V I II VII 2 4
www.phdinc.com/multir
JA
D1 C2 C1 B1
C
V DIA Q
C/2 L
KA SQ VI III IV VIII 2 4
B2 SPECIFIED BY
D2 E A R 5R2xx WHEN
ORDERING
YA + Z (T° + K°) YA + Z (T° x P°) 3
E M THREAD S TA
D 4X EACH FRONT,
BACK & BOTTOM
LETTER DIMENSION
IMPERIAL SHAFTS* METRIC SHAFTS*
SERIES C D E F FA G GA H JA KA L M NB O PA Q R S TA U V W V W X YA YB Z ZA
4000 108 76 50.8 9 10 17 18 6 29 48 53 M8 x 1.25 x 13 50.80 x 1.0 DP 76.2 48 76.2 16 13 50.8 14 22.22/22.23 4.75 x 2.36 x 38 22.00/21.96 6 x 3.5 x 32 G1/4 171 85 0.33 38
CAT-03
6000 127 102 63.5 10 9 19 18 5 29 57 58 M10 x 1.5 x 16 55.00 x 1.3 DP 76.2 48 88.9 19 13 50.8 10 28.55/28.58 6.35 x 3.18 x 38 28.00/27.96 8 x 5 x 40 G1/4 186 101 0.33 48
8000 203 127 76.2 12 12 27 27 11 48 89 92 M20 x 2.5 x 32 85.00 x 3.0 DP 127.0 89 127.0 38 32 63.5 19 44.42/44.45 9.53 x 2.36 x 78 44.00/43.96 12 x 5 x 56 G3/8 251 133 0.66 73
* BOTH IMPERIAL AND METRIC SHAFT OPTIONS AVAILABLE ON METRIC BODY
(IMPERIAL SHAFT = DESIGN 5, AND METRIC SHAFT = DESIGN 6).
NUMBERS FOR METRIC UNITS AND ARE IN mm.
I° R°
N°
K°
SHAFT KEYWAY: SHOWN AT MID-ROTATION
PORT PRESSURIZED - E I J° V PORT PRESSURIZED - A
PORT POSITIONS: INDICATED BY CIRCLED NUMBERS
FULL CCW POSITION FULL CW POSITION
MTG. HOLES: CENTERED ON CENTERLINE OF ACTUATOR BODY
STOP TUBES: LOCATED IN TUBES I & II
PLUMBING SCHEMATIC: L0CATED IN ENGINEERING DATA SECTION
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
ENGINEERING DATA: SERIES 1000-8000 ROTARY ACTUATORS
RATINGS CONTROLS
All pneumatic rotary actuators have a maximum pressure rating of Rotary Actuator units are operated by directional valves in the same
150 psi [10 bar] air. Most hydraulic rotary actuators have a maximum manner as air and hydraulic cylinders.
pressure rating of 1500 psi [100 bar]. Except as noted in chart below.* Control of piston speeds is extremely important as inertia force is a
function of rotational speed and distance from load to output shaft center.
HYD OPTION psi [bar]
SERIES *PLAIN -P -D -E OR -M
1000 — — — — — — — —
ANGLE OF ROTATION
2000 1000 [69] 750 [52] 750 [52] — — Series 1000-8000 Rotary Actuators are furnished in 6 stock angles:
3000 — — — — — — — — 45°, 90°, 180°, 270°, 360°, and 450°. Other angles are available as
specified.
4000 — — 750 [52] 750 [52] — —
Series 018x Miniature Rotary Actuators are all furnished with 180°
5000 — — — — — — 1100 [76] rotation, but can be adjusted anywhere from 180° to 0°.
6000 — — 750 [52] 750 [52] 1100 [76]
7000 — — — — — — 500 [35] TOTAL ROTATIONAL
8000 — — 750 [52] 750 [52] 500 [35]
TOLERANCES & BACKLASH
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 SERIES ROTATIONAL TOLERANCE BACKLASH
proof pressure data. 1000 & 2000 -0°, +10° *±30 minutes
3C
3000 & 4000 -0°, +10° *±15 minutes
5000 & 6000 -0°, +10° *±15 minutes
BREAKAWAY 7000 & 8000 -0°, +10° *±7.5 minutes
All RxxA units will breakway at 20 psi [1.4 bar]. RxxH units will 018x75x -0°, +10° ±1.25 degrees during
breakway at 40 psi [2.8 bar]. All tandem RxxR units will breakaway at 40
rotation, ±0° at end
psi [2.8 bar]. 018x air units will breakaway at 20 psi [1.4 bar], 018x
018x50x -0°, +10° ±2 degrees during
tandem units will breakaway at 30 psi [2.1 bar].
rotation, ±0° at end
TEMPERATURE LIMITS AND FLUIDS *Double rack actuators are available with 0° backlash at ends of
Rotary Actuator units are equipped with Buna-N piston seals rotation, if -A option is used.
suitable for use in temperatures ranging from -20° to +180°F Total rotational tolerance may be on both or either sides of mid-
[-28° to 82°C] and may be used with air, water, petroleum-based rotation minimum.
hydraulic fluid, or fuel oil.
Seals for other fluids or temperature requirements are available, but
must be specified. All Rotary Actuators have teflon back-up rings for
universal use (except Miniature Rotary Actuators Series 018x).
MULTI-POSITION MID-POSITION
NOTE: For applications where water-based fluids are used, the units TOLERANCES & BACKLASH
must be modified. Consult PHD for specifications.
SERIES TOLERANCE** BACKLASH
LUBRICATION 2000 ±1° ± 1-1/2°
Gear racks and pinion are lubricated at the factory and may never 4000 & 6000 ±1/2° ± 1-1/4°
need lubrication. However, if lubrication should be needed due to adverse 8000 ±1/4° ± 1°
conditions, use high grade bearing grease. 018x752 (3 pos.) Adjustable Adjustable to 0°
NOTE: Port for grease nipple provided in top of actuator body. **Rotational position from one intermediate position to another
Lubricate only while ports are pressurized except on 018x75 and 018x50, (measured at centers of backlash).
which have no lube ports.
Approximately 1/2 in3 [8 cm3] of grease is sufficient for any series NOTE: 3 position and 5 position have 0° backlash at ends of rotation.
actuator, each 250,000 cycles of 360° duration. 4 position will have up to stated figure at ends of rotation.
3C-29
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/products/rotaryactuators
ENGINEERING DATA: SERIES 1000-8000 ROTARY ACTUATORS
THEORETICAL TORQUE OUTPUT in-lb [Nm]
INPUT PRESSURE psi [bar]
40 50 60 70 80 90 100 120 150 250 500 1000 1500
MODEL [2.7] [3.4] [4.1] [4.8] [5.5] [6.2] [6.9] [8.3] [10.3] [17.2] [34.4] [68.9] [103.4]
15 19 23 27 31 35 39 47 58 98 196 392 588
1000
[1.7] [2.1] [2.6] [3.0] [3.5] [4.0] [4.4] [5.3] [6.6] [11.1] [22.2] [44.3] [66.5]
31 39 47 54 62 70 78 94 117 196 392 784 —
2000
[3.5] [4.4] [5.3] [6.1] [7.1] [8.0] [8.8] [16.6] [13.2] [22.2] [44.3] [88.6] [—]
44 55 66 77 88 100 111 133 166 277 555 1110 1665
3000
[4.9] [6.2] [7.4] [8.7] [10.0] [11.3] [12.6] [15.0] [18.8] [31.3] [62.7] [125.5] [188.2]
88 111 133 155 177 200 222 266 333 555 1110 2200 3330
4000
[10.0] [12.6] [15.0] [17.5] [20.0] [22.6] [25.1] [30.1] [37.7] [62.7] [125.5] [248.8] [376.5]
94 118 141 165 189 212 236 283 354 590 1180 2360 3540
5000
[10.6] [13.3] [15.9] [18.7] [21.4] [23.9] [26.7] [32.0] [4.0] [66.7] [133.4] [266.9] [400.3]
189 236 282 330 378 424 472 564 708 1180 2360 4720 7080
6000
[21.4] [26.7] [31.9] [37.3] [42.7] [47.9] [53.4] [63.8] [80.1] [133.4] [266.9] [533.7] [800.6]
424 530 635 740 848 950 1060 1270 1590 2650 5300 10600 15900
7000
[47.9] [59.9] [71.8] [83.7] [95.9] [107.4] [179.9] [143.4] [179.8] [299.7] [599.5] [1198.6][1297.4]
3C
848 1060 1270 1480 1696 1900 2120 2540 3180 5300 10600 21200 31800
8000
[95.5] [119.9] [143.6] [167.4] [191.8] [214.8] [239.7] [287.2] [359.6] [599.3] [1198.6][2397.3][3595.9]
4.4 5.5 6.6 7.7 8.8 9.9 11.0 13.2 16.5 — — — —
018x751
[.49] [.62] [.74] [.87] [.99] [1.12] [1.24] [1.49] [1.87] — — — —
0180752
8.8 11.0 13.2 15.4 17.6 19.8 22.0 26.4 33.0 — — — —
0185752
[.99] [1.24] [1.49] [1.74] [1.99] [2.24] [2.48] [2.98] [3.73] — — — —
0186752
4.4 5.5 6.6 7.7 8.8 9.9 11.0 13.2 16.5 — — — —
018x75T
[.49] [.62] [.74] [.87] [.99] [1.12] [1.24] [1.49] [1.87] — — — —
0183752
4.4 5.5 6.6 7.7 8.8 9.9 11.0 13.2 16.5 — — — —
0188752
[.49] [.62] [.74] [.87] [.99] [1.12] [1.24] [1.49] [1.87] — — — —
0189752
2.6 3.3 3.9 4.6 5.2 5.9 6.5 7.8 9.8 — — — —
018x502
[.29] [.37] [.44] [.52] [.59] [.66] [.74] [.88] [1.11] — — — —
Use the single rack torques for all Air/Oil Tandem and Multi-Position Rotary Actuators.
Torques shown are theoretical. Allow 10% for friction loss. Allow 20% for friction loss
on all Air/Oil Tandem Rotary Actuators.
3C-30
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/products/rotaryactuators INDUSTRIAL AUTOMATION
CAT-03
ENGINEERING DATA: SERIES 1000-8000 ROTARY ACTUATORS
PHYSICAL DATA
GEAR DISPLACEMENT AXIAL BEARING RADIAL BEARING DISTANCE BETWEEN PISTON
SERIES RACKS in3 [cm3]/DEG. ROT. LOAD CAPACITY lb [N]* LOAD CAPACITY lb [N]* SHAFT BEARINGS in [mm] DIAMETER in [mm]
1000 1 .007 [.115] 50 [222] 100 [444] 1.375 [34.9] 1 [25.4]
2000 2 .014 [.229]
3000 1 .019 [.312] 125 [556] 250 [1112] 2.188 [55.6] 1-3/8 [35]
4000 2 .038 [.623]
5000 1 .041 [.672] 200 [890] 400 [1779] 2.235 [56.8] 2 [50]
6000 2 .082 [13.44]
7000 1 .185 [3.032] 500 [2224] 1000 [4448] 3.750 [95.3] 3 [76]
8000 2 .370 [6.064]
018x751 1 .002 [0.032] 15 [67] 25 [111] 1.060 [26.9] 3/4 [19]
018x752 2 .004 [0.064]
018x75T 2 .002 [0.032] 15 [67] 25 [111] 1.060 [26.9] 3/4 [19]
018x502 2 .0012 [0.020] 5 [22] 15 [22] .916 [23.3] 1/2 [13]
* Always support rotating member on external bearings whenever possible.
3C
WEIGHT TABLES lb [kg] SINGLE SHAFT EXTENSION ACTUATORS
SERIES 45° 90° 180° 270° 360° 450° PER 90° ADD FOR SHAFT EXT.
1000 2.1 [.95] 2.3 [1.04] 2.6 [1.18] 2.9 [1.31] 3.3 [1.49] 3.6 [1.64] .3 [.14] .1 [.04]
2000 3.1 [1.40] 3.3 [1.50] 3.9 [1.78] 4.5 [2.09] 5.1 [2.32] 5.7 [2.58] .6 [.28] .1 [.04]
3000 7.2 [3.26] 7.5 [3.40] 8.3 [3.76] 9.0 [4.08] 9.8 [4.45] 10.5 [4.76] .8 [.36] .4 [.18]
4000 9.6 [4.35] 10.2 [4.62] 11.4 [5.17] 12.6 [5.71] 13.8 [6.26] 15.0 [6.80] 1.2 [.54] .4 [.18]
5000 11.5 [5.22] 11.9 [5.42] 12.8 [5.80] 13.5 [6.13] 14.3 [6.49] 15.1 [6.86] .8 [.37] .5 [.27]
6000 15.8 [7.7] 16.8 [7.63] 18.3 [8.3] 19.8 [8.99] 21.3 [9.67] 22.8 [10.35] 1.5 [.68] .5 [.27]
7000 Air 37.9 [17.19] 39.1 [12.25] 41.7 [18.91] 44.2 [20.05] 46.8 [21.20] 49.4 [22.43] 2.6 [1.19] 2.4 [1.08]
7000 Hyd. 39.1 [17.75] 41.0 [18.60] 44.8 [20.32] 48.5 [22.00] 52.3 [23.71] 56.0 [25.41] 3.8 [1.72] 2.4 [1.08]
8000 Air 49.6 [22.52] 52.1 [23.65] 57.4 [26.03] 62.6 [28.41] 67.9 [30.80] 73.1 [33.18] 5.3 [2.40] 2.4 [1.08]
8000 Hyd. 52.1 [23.65] 55.9 [25.35] 63.4 [28.75] 70.9 [32.16] 78.4 [35.56] 85.9 [38.96] 7.5 [3.40] 2.4 [1.08]
OPERATING OIL SECONDS/ *Ambient Temperature 87°F [30°C] Standard Oil No. 15
MODEL PRESSURE psi [bar] TEMPERATURE* 180° ROTATION Reservoir Pressure = 20 psi [1.3 bar]
Speed decreases with increase in reservoir pressure.
50 [3.4] .31
60 [4.1] 95°F .27
018x75T
70 [4.8] [35°C] .25
80 [5.5] .22
3C-31
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION www.phdinc.com/products/rotaryactuators
CAT-03
PLUMBING SCHEMATICS: ROTARY ACTUATORS
3 POSITION UNITS
SERIES 2000-8000
C2 C1
E A
S2 S1 S3
3C
PORTS PRESSURIZED
C1 & C2
II
T°
I° R°
PORT PRESSURIZED - E PORT PRESSURIZED - A
FULL CCW POSITION I III FULL CW POSITION
D1 C2
D2 E
S2 S1 S3
PORTS PRESSURIZED
D1 & D2
II
T°
J° K°
PORT PRESSURIZED - E PORT PRESSURIZED - C2
FULL CCW POSITION I III FULL CW POSITION
3C-32
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/products/rotaryactuators INDUSTRIAL AUTOMATION
CAT-03
PLUMBING SCHEMATICS: ROTARY ACTUATORS
4 POSITION UNITS
SERIES 2000-8000
D1 C2 C1
D2 E A
S3 S2 S1 S4
3C
T°
PORTS PRESSURIZED II III PORTS PRESSURIZED
D1 & D2 C1 & C2
K°
J° I°
PORT PRESSURIZED - E R° PORT PRESSURIZED - A
FULL CCW POSITION I IV FULL CW POSITION
5 POSITION UNITS
SERIES 2000-8000
D1 C2 C1 B1
D2 E A B2
S2 S1 S5
S3 S4
PORTS PRESSURIZED
C1 & C2
III
T°
PORTS PRESSURIZED PORTS PRESSURIZED
D1 & D2 II IV B1 & B2
P°
I° R°
N°
K°
PORT PRESSURIZED - E J° PORT PRESSURIZED - A
FULL CCW POSITION I V FULL CW POSITION
3C-33
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION www.phdinc.com/products/rotaryactuators
CAT-03
START-UP PROCEDURE: SERIES 1000-8000 ACTUATORS
ROTARY ACTUATORS AIR/OIL TANDEM ROTARY ACTUATORS
CAUTION: Angular velocity and deceleration of actuators are 1. Mount Reservoir “A” vertically above actuator hydraulic
normally controlled with Port Control® valves and cushions. section. (Approximately 12 feet [3.6 m] of flexible tubing has
been provided to allow reservoir to be mounted in convenient
At start-up, the actuator cylinders are often empty or not location.) Excess may be coiled up or cut off. Shortening of
pressurized. To prevent damage due to lack of governing media tube should take place by disconnecting tube from tank taking
and to assure a controlled start-up, the following procedure should care that minimum amount is allowed to drain from reservoir
be used. and that tube is kept full of oil at all times. A small air bubble
may form at end of tube when reassembled. This is not
1. After installation of actuator and auxiliary tooling (arms, jaws, detrimental and will disappear during operation of actuator.
fixtures, etc.), manually turn output shaft fully clockwise prior
to start up. Actuator should be started-up with typical work 2. Provide constant air supply regulated to 20 psi [1.3 bar] to
piece or load. port B on reservoir.
2. Apply pressure to rotary chamber in same direction as shaft is 3. Apply air pressure to reservoir. Next, LOOSEN (do not remove)
turned (clockwise port). drain plug C. Allow oil to drain until level reaches line E.
Retighten plug securely.
3. Apply pressure to opposite port and slowly open speed control
3C
valve governing counterclockwise direction. This will allow the 4. If actuator is equipped with cushions, open needle valves
actuator to rotate under control. Follow the same procedure in marked D approximately 1/8 turn.
opposite direction. Several cycles may be needed to obtain
proper speed adjustment. 5. Follow same procedure with port control needles marked P.
4. On units with adjustable cushions, set needle adjustment for 6. Air pressure may now be applied to actuator. Take care to keep
optimum effectiveness to minimize shock at end of rotation. clear from any tooling attached to the actuator shaft as it may
start rotating.
CAUTION:
PLEASE DO NOT TAMPER WITH FITTING ASSEMBLY.
CONTAINS CHECK VALVE WITH LOOSE COMPONENTS.
D
MAINTENANCE VIDEOS
Field Maintenance Videos on filling and bleeding Air/Oil
Tandem Actuators are now available. Contact your local PHD
distributor or call our toll free number: 1-800-624-8511.
3C-34
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/products/rotaryactuators INDUSTRIAL AUTOMATION
CAT-03
OPTIONS: SERIES 1000-8000 ROTARY ACTUATORS
P PORT CONTROL® The self-locking needle has micrometer threads and is
adjustable under pressure. It determines the orifice size which
controls the exhaust volume only of the actuator proper. The
The “built-in” speed control valve. separate ball check is closed while fluid is exhausting from the
The exclusive PHD Port Control®, based on the “meter-out” actuator, but opens to permit full flow of incoming fluids. The PHD
principle, features an adjustable needle and a separate ball check. Port Control® provides the optimum in speed control for rotary
Both are built into the rotary actuator end cap and are used to actuators. It saves space and eliminates the cost of fittings and
control the speed of the actuator over its entire rotation. installation for external flow control valves.
D ADJUSTABLE CUSHIONS
3C
approximately 30° of rotation, except on the 8000 Tandem which
has 20° of cushion length.
Cushions on Series 2000, 4000, 6000 and 8000 are furnished
on one of two racks only.
H ZA MAX
ZB ZC
A ANGLE ADJUSTMENT
ZD DIA
Adjusting screw(s) for reducing angle of rotation in either or
both directions for use where exact degree of desired rotation
cannot be predetermined or where requirements may vary during
LETTER DIMENSION
operation. Standard adjusting screw will reduce angle of rotation up SERIES H ZA ZB ZC ZD
to 30°. Available in conjunction with all other optional features. 0.00 1.125 .312 3/16 HEX .875
1000 & 2000
Cushions are normally engaged over the last 30° of angle. The [0] [29] [8] — [22]
use of angle adjusting screws to reduce angle of rotation has a 3000 & 4000
.250 1.500 .375 1/4 HEX 1.250
direct effect on the length of cushion engagement. Example: 10° [6] [38] [10] — [32]
.203 1.875 .750 1/4 HEX 1.250
angle reduction will reduce cushion engagement by 10°. Angle 5000 & 6000
[5] [48] [19] — [32]
adjustments are standard on all Multi-Position Rotary Actuators. .437 2.875 .937 3/4 FLAT 1.750
7000 & 8000
[11] [73] [24] [19 mm] [45]
NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm.
B SHOCK PADS
Polyurethane pads for absorption of shock and noise are
available on each end of Series 1000-8000 Rotary Actuators.
Reducing shock permits higher piston velocities for shorter cycle
times. Reducing noise levels provides improved environment for
increased productivity. Pads eliminate metal-to-metal contact
between piston and end caps. NOTE: Air application only.
+.000 +.000 LETTER
.187 -.010 -.254 SERIES A B
G SHAFT SEAL COVERS
Not available on Rx6x and Rx9x models
1000 & 2000
1.875 .688
[47.63] [17.5]
3.000 1.688
3000 & 4000
[76.20] [42.9]
Fits all PHD Series 1000-8000, except when ordering hollow A DIA 3.250 1.688
5000 & 6000
shafts. Isolates internal or external pressures. Maximum pressure [82.55] [42.9]
differential is 500 psi [34.4 bar]. Furnished installed on actuator only 4.480 3.312
7000 & 8000
[113.79] [84.1]
(both sides). Covers are made of hard anodized aluminum. Not to be B REF
used as a pilot. NUMBERS IN [ ] ARE FOR METRIC
UNITS AND ARE IN mm.
K PRELOADED KEYWAY SHAFT For use with Hub Adaptors. See Transition Plates & Stanchions
Not available on Rx6x and Rx9x models section.
3C
E THREAD
F RAD LETTER DIMENSION
SERIES A B C D E F
F .375 1.500 .250 3/8-24 10-32 x .312 DP .156
1000 & 2000
[9.5] [38.1] [6.35] [M10] [M5 x 8] [4]
.812 2.000 .437 1/2-20 5/16-24 x .440 DP .220
+.010 +.254 3000 & 4000
C [20.6] [50.8] [11.11] [M12] [M8 x 11] [6]
-.000 -.000
.125
A [3.2] D THREAD B MIN DIA .812 3.000 .563 5/8-11 3/8-24 x .560 DP .251
5000 & 6000
ALLOWABLE [20.6] [76.2] [14.28] [M16] [M10 x 14] [6]
SHAFT KEYWAY: SHOWN AT MID-ROTATION 1.500 4.000 .875 1-8 1/2-20 x .687 DP .438
7000 & 8000
R2xx UNITS: WHEN ORDERING SPECIFY -K-K FOR PRELOAD ON BOTH SHAFT EXTENSIONS. PRELOAD [38.1] [101.6] [22.22] [M24] [M12 x 17.5] [11]
WILL BE ON OPPOSITE SIDES OF SHAFT.
SET SCREW: INCLUDED WITH UNIT
H HOLLOW SHAFT
Not available on Rx6x and Rx9x models
LETTER DIMENSION
A PB A SERIES A PB VA WA
.042 1.920 .250 —
1000 & 2000
[1.1] [48.76] [6.35] —
WA KEYWAY
.042 2.917 .500 1/8 x 1/16
THRU 3000 & 4000
[1.1] [74.09] [12.7] [3.18 x 1.58]
.135 2.730 .687 3/16 x 3/32
5000 & 6000
[3.4] [69.34] [17.46] [4.76 x 2.38]
+.002 +.050 .240 4.520 1.125 1/4 x 1/8
VA -.000 -.000 DIA THRU 7000 & 8000
[6.1] [114.80] [28.57] [6.35 x 2.38]
SHAFT KEYWAY: SHOWN AT MID-ROTATION
3C
PART NO. COLOR DESCRIPTION COMPACT REED SWITCHES
17503-2-06 Yellow NPN (Sink) Type 4.5-24 VDC, 6 foot cable PART NO. DESCRIPTION
17504-2-06 Red PNP (Source) Type 4.5-24 VDC, 6 foot cable 17502-2-06 White NPN (Sink) or PNP (Source) 4.5-24 VDC,
17523-2 Yellow NPN (Sink) Type 4.5-24 VDC, Quick Connect 6 foot cable
17524-2 Red PNP (Source) Type 4.5-24 VDC, Quick Connect 17509-3-06 Green AC Type 110-120 VAC with Current Limit,
6 foot cable
LIQUID RESISTANT HALL EFFECT SWITCH 17522-2 White NPN (Sink) or PNP (Source) 4.5-24 VDC,
PART NO. DESCRIPTION Quick Connect
15902-1 NPN (Sink) or PNP (Source) 4.5-24 VDC 17529-3 Green AC Type 110-120 VAC, Quick Connect
with Current Limit
SWITCH BRACKETS
LIQUID RESISTANT REED SWITCHES
PART NO.
PART NO. DESCRIPTION
SERIES COMPACT SWITCH LIQUID RESISTANT 15900-1 10 Watt 4.5-24 VDC or 110-120 VAC
1000 & 2000 17000-32-5 5142-32-3 15901-1 3 Amp 65-120 VAC
3000 & 4000 17000-34-5 5142-34-3
5000 & 6000 17000-38-0 5142-38-3
7000 & 8000 17000-39-0 5142-39-3
3C-37
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION www.phdinc.com/products/rotaryactuators
CAT-03
OPTIONS: SERIES 1000-8000 ROTARY ACTUATORS
COUNTERCLOCKWISE Output hub rotates in one direction only. It remains motionless
L UNIDIRECTIONAL CLUTCH while rack and pinion reverse. Clutch repeats within ±1/2°.
Assembly features a Torrington roller clutch. Spring loaded
Not available on Rx6x and Rx9x models
brake shoes limit output shaft free wheeling, but are not intended for
Output hub will only rotate in counterclockwise stopping external loads.
direction at specific rotation ordered. CAUTION: Any angular error will accumulate; therefore, shot
pins or similar locators are necessary on index applications.
CLOCKWISE UNIDIRECTIONAL Maintain shot pin location during reversal of Rotary Actuator to
R CLUTCH guarantee that clutch shaft does not move due to external forces or
slight internal friction in clutch.
Not available on Rx6x and Rx9x models
Output hub will only rotate in clockwise
direction at specific rotation ordered.
Overrun clutch for intermittent unidirectional shaft output,
available for Series 1000 through 6000. LETTER DIMENSION
SERIES A C D E Q
R
.281 2.938 2.000 1.500 2.000
R2xx ROTATION 1000 & 2000
1.656 [7.2] [74.6] [51] [38] [50.8]
AUXILLARY [42] 2X A DIA THRU TO .344 4.188 3.000 2.000 3.000
EXTENSION
3C
1 1
4 2 I II 2 4
3 3
1 1
4 2 III IV 2 4
3 3
3C
This option positions the ports in position 1 on racks I & II and This option rotates the cap of an Air/Oil Tandem Rotary
in position 3 on racks III and IV. This allows access to the ports on Actuator 180°. This places the Port Control (and Cushion) needles
the “Top” and “Bottom” sides of the actuator. and the Tandem fitting in position 2. Standard position for these is
position 4.
SERIES RI Benefits
Page 3D-3
Dimensions
Pages 3D-4 to 3D-9
Low Profile, High Force
Engineering Data
Pages 3D-10 & 3D-11
Options
Pages 3D-12 to 3D-14
Accessories
SERIES RIxH Pages 3D-15 to 3D-18
Hollow Pinion
Actuator Selection
Pages 3D-19 to 3D-22
Sizing Example
Pages 3D-23 to 3D-25
Application Example
Page 3D-26
SERIES RI
Integral Air Lines for
Direct Pneumatic Coupling
3D-1
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
3D
3D-2
TO ORDER SPECIFY:
Product, Series, Type, Design No.,
Bore Size, Rotation, and Options.
TYPE
www.phdinc.com/ri
(800) 624-8511
TORQUE ANGLE ADJUSTMENT
BORE Ø AT 87 psi AB - Angle adjustment with shock
S 25 mm 32 in-lb [3.6 Nm] pad installed both ends
SINGLE 32 mm 63 in-lb [7.1 Nm] AC - Angle adjustment with shock
RACK 50 mm 207 in-lb [23.4 Nm] HOLLOW PINION BORE Ø MID-POSITION pad installed counterclockwise 90°
D 25 mm 64 in-lb [7.2 Nm ] H - Hollow Pinion 25 mm 90° AW - Angle adjustment with shock
PRODUCT DOUBLE 32 mm 127 in-lb [14.3 Nm] Leave blank 32 mm On 3-position only pad installed clockwise 90°
R - Rotary RACK 50 mm 414 in-lb [46.8 Nm] if standard 50 mm Must be specified See note 1
3 R I D H 1 25 x 180 x 90 - NB - PB - AB - M
CAT-03
THREE POSITION SERIES DESIGN NO. ROTATION SHOCK ABSORBERS ROTATION SPEED CONTROL VALVE OPTIONS
UNITS I - Internal Passage 1 - Imperial 180° NB - Shock installed both directions PB - Rotational Speed Controls M - Reed Magnet,
Only 90° 5 - Metric NC - Shock installed counterclockwise both directions Solid State
Mid-position on NW - Shock installed clockwise PC - Rotational Speed Controls
Double Rack Units See note 1 counterclockwise
are available. PW - Rotational Speed Controls
clockwise
NOTE:
1) Either optional angle adjustments or shock absorbers must be
ordered on all units. (Either option is mandatory.) PORTING PLATE KITS Options may affect unit length.
2) Switches and switch bracket kits must be ordered separately. See unit dimension and options
UNIT KIT ! pages for adders.
UNIT ROTATION SPEED CONTROL SHOCK SIZE NUMBER
ORDERING DATA: SERIES RI ROTARY ACTUATOR
RISxx25 69146
CUS
S
SOLUTIONS FOR
RIxx550 69199 RISxx50 69147 Kits include:1 Porting Plate, 2 Locating Rings, CUSTOM ROTARY ACTUATORS ARE AVAILABLE.
NOTE: One port control fitting per kit RIDxx50 69156 4 Fasteners, Required O-Rings PLEASE CONSULT PHD.
INDUSTRIAL AUTOMATION
BENEFITS: SERIES RI ROTARY ACTUATOR
COMMON BENEFITS Series RI
■ Available in three sizes and six torque ranges from 32 to
414 in-lb at 87 psi [3.6 to 46.8 Nm at 6 bar] and are available
in either imperial or metric versions.
■ Provide 0 to 180 degrees rotation and are infinitely adjustable
throughout the entire range.
■ Body and hub locating sleeve pins provide accurate location.
■ Zero backlash at ends of rotation for precise rotary positioning.
■ Optional three position units are available providing 90° mid SERIES RI BENEFITS: INTEGRAL AIR LINES
position on double rack units only. ■ Series RI Rotary Actuators incorporate internal air passages
■ PHD Series 6790 Switches or proximity switch ready are within the rotary pinion manifold to allow pneumatic coupling
available for interfacing to electrical controls. to other devices without tubing. Provides protection against
severed or damaged air lines eliminating downtime.
■ Optional shock absorbers or bumpers provide quiet operation
and end of rotation deceleration. ■ Hub manifold interface provides from 4 to 8 passages through
the pinion for maximum flexibility.
■ Optional port flow controls provide accurate control of
rotation speed. ■ Units incorporate a hollow pinion for routing and protecting
items such as electrical cable.
Series RIxH ■ Features enclosed inner tubing for protection from external
contaminants.
■ Porting plate accessory allows for quick and easy transition
between hub manifold and customer tooling or end effectors.
3D-3
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
DIMENSIONS: SERIES RISH ROTARY ACTUATOR SINGLE RACK
A
C A/2 4X J E 4X M HOLE X N DEEP
RIxx25 & RIxx32 ONLY
4X L THREAD
8X L THREAD
FOR RIxx50 ONLY
5 B D 6
4X G
4X H
Y THREAD THRU 2X F 4X K 2
ØU FF
2X BB
2X EE
S
R P 3 1
2X BB
3D
W W
AA AA
T
V Z 4X CC 2X DD
SEE PAGE 3D-18 FOR THREAD THRU Z V
PINION DETAIL JJ PORT T-SLOT DIMENSIONS
4
JJ PORT Y THREAD THRU
C C
2X Z PORT PLUG
SEE PORT PLUG
DETAIL FOR
METRIC UNITS
PORT PLUG
SEE PORT PLUG
Ø LL DETAIL FOR PORT PLUG DETAIL
MM Ø KK METRIC UNITS FOR METRIC UNITS
GG
HH
PORT PLUG
PER DIN 908
T
Ø PP
SECTION CC
UNIT
SIZE Ø PP Ø KK Ø LL MM
RISH125 2.244 .677 1.063 .236 METRIC INFORMATION SHOWN IN [ ].
RISH525 [57.0] [17.2] [27.0] [6.0] NOTES:
RISH132 2.677 .846 1.339 .276 1) PORT POSITIONS INDICATED BY CIRCLED NUMBERS.
RISH532 [68.0] [21.5] [34.0] [7.0] 2) PINION AND HUB SHOWN AT MID ROTATION.
RISH150 3.150 1.060 1.676 .354
RISH550 [80.0] [26.9] [42.6] [9.0]
3D-4
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
DIMENSIONS: SERIES RIDH ROTARY ACTUATOR DOUBLE RACK
1 2
3
7
4
6 5
2
2X Y THREAD THRU
THIS END
3 1
W
AA
2X Z
4X JJ PORT 2X V
THIS END
4
2X Z
PORT PLUG DETAIL
5 6 FOR METRIC UNITS
PORT PLUG
PORT PLUG PER DIN 908
SEE PORT PLUG
DETAIL FOR GG
METRIC UNITS
NOTES:
1) PORT POSITIONS INDICATED BY CIRCLED NUMBERS.
2) PINION AND HUB SHOWN AT MID ROTATION.
3) FOR DIMENSIONS NOT GIVEN SEE RISH SINGLE RACK DIMENSION PAGE 3D-4.
3D-5
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
DIMENSIONS: SERIES RIS ROTARY ACTUATOR SINGLE RACK
A
C A/2 4X J E 4X M HOLE X N DEEP
RIxx25 & RIxx32 ONLY
4X L THREAD
8X L THREAD
FOR RIxx50 ONLY
1 2
3
5 B D 6
4X G
4
7
6 5
4X H
2X F 4X K
SEE PAGE 3D-8 FOR
PRESSURE OUTPUT
Y THREAD THRU HUB INTERFACE 2
ØU DIMENSIONS FF
2X BB
3D
2X EE
S
R P 3 1
2X BB
W W
AA AA
T
V Z 4X CC 2X DD
SEE PAGE 3D-18 FOR THREAD THRU Z V
JJ PORT T-SLOT DIMENSIONS
4
JJ PORT Y THREAD THRU
2X Z 6 5
1 2 DETAIL FOR
PORT PLUG METRIC UNITS
SEE PORT PLUG
DETAIL FOR
METRIC UNITS SEE PAGE 3D-8 FOR
PORT PLUG
PER DIN 908 PRESSURE INPUT
GG HUB INTERFACE
HH DIMENSIONS
NOTES:
1) PORT POSITIONS INDICATED BY CIRCLED NUMBERS.
2) PINION AND HUB SHOWN AT MID ROTATION.
3
7
4
6 5
2
2X Y THREAD THRU
THIS END
3 1
W
AA
2X Z
4X JJ PORT 2X V
THIS END
4
5 6
8
1 2
PORT PLUG
PORT PLUG PER DIN 908
SEE PORT PLUG
DETAIL FOR
METRIC UNITS
GG
SEE PAGE 3D-8 FOR PRESSURE INPUT
HUB INTERFACE DIMENSIONS
UNIT LETTER DIMENSION
SIZE E V W Y Z AA GG JJ
RID125 1.280 .731 .618 M14 x 1.5 .709 .394 .197 10-32
RID525 [32.5] [18.6] [15.7] M14 x 1.5 [18.0] [10.0] [5.0] M5 x 0.8
RID132 1.378 .888 .854 M20 x 1.5 .787 .650 .315 1/8-27 NPT
RID532 [35.0] [22.6] [21.7] M20 x 1.5 [20.0] [16.5] [8.0] 1/8-28 BSPP
RID150 1.378 1.270 1.142 M25 x 1.5 1.535 .650 .315 1/8-27 NPT
RID550 [35.0] [32.2] [29.0] M25 x 1.5 [39.0] [16.5] [8.0] 1/8-28 BSPP
METRIC INFORMATION SHOWN IN [ ].
NOTES:
1) PORT POSITIONS INDICATED BY CIRCLED NUMBERS.
2) PINION AND HUB SHOWN AT MID ROTATION.
3) FOR DIMENSIONS NOT GIVEN SEE RIS SINGLE RACK DIMENSION PAGE 3D-6.
A B C
A 2
L°
L°
1 B L°
1
C
3
2
1
8
4X K° 6X K° 8X K°
7
5
3
4
4
4
6 5
2X Ø H x R DP
ØE ØJ 2X Ø H x R DP
2X Ø H x R DP ØE ØJ
4X Ø F x G DP 8X Ø F x G DP
6X Ø F x G DP O-RING INTERFACE ØJ
3D
4X (G) 6X (G)
8X (G)
L° 6 5
L° 4 L°
3
4
4
5
7
3
4X K° 6X K° 8X K°
3
2
2
6
1
1
1 2
ØM
ØP ØM ØM
ØP ØP
DOUBLE RACK
SIZE 25, 32 & 50
FOR DIMENSIONS NOT SHOWN HERE:
SERIES RIxH SEE PAGES 3D-4 AND 3D-5 PORT PLUG DETAIL FOR METRIC UNITS
SERIES RI SEE PAGES 3D-6 AND 3D-7
PORT PLUG
PER DIN 908
2 C KK
2X MM
1 3 5 6
AA NN
2X JJ PORT
Z (3 POSITION 2X JJ PORT
GG LL (UNIT CONTROL)
CONTROL)
4
2X ZZ PP 5
6
4
8
3
PORT PLUG 1 2
2X JJ PORT
(UNIT CONTROL)
(0-90-180°) A
C B
NOTES:
A B C 1) PORT POSITIONS INDICATED BY CIRCLED NUMBERS.
2) PINION AND HUB SHOWN AT MID ROTATION.
P R P R PR 3) MID POSITION HOLDING TORQUE ON DOUBLE RACK
UNITS IS 1/2 CATALOGED OUTPUT TORQUE.
in temperatures from -20° to +160°F [-28° to +71°C]. If a PHD to 15° on the nominal specified rotation.
supplied external rotation speed control valve is used, the
temperature range is from 5° to 160°F [-15° to 71°C]. If a PHD
supplied shock absorber is used, the temperature range is from 32° to
ROTATION RATES
150°F [0° to 66°C]. Consult PHD for temperatures beyond this range. The speeds given in the chart on page 3D-11 reflect one cycle of
180° with no load applied at 87 psi [6 bar]. Times given are average
and include the deceleration time through each type stopping method.
LUBRICATION
All units are permanently lubricated at assembly for service
using non-lubricated air. Life can be extended by periodic lubrication
CONTROLS
of the rack and pinion using high grade bearing grease and by using Control of output hub speed is extremely important as inertia
lubricated air. force is a function of rotational speed and distance from load to
output hub center. Flow controls and shock absorbers should be
considered when inertial loads are applied. See pages 3D-11
BACKLASH through 3D-15 for information on Series RI Rotary Actuator
All units have 0° of backlash at ends of rotation. controls. See pages 3D-19 through 3D-21 for information on load
stopping capacity.
3D-10
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
ENGINEERING DATA: SERIES RI ROTARY ACTUATOR
ROTARY ACTUATOR WEIGHT TABLES ROTARY ACTUATOR ROTATION RATE TABLE
(NO LOAD CONDITIONS)
SINGLE AND DOUBLE 3 POSITION ROTATION RATES at 87 psi
ROTARY ACTUATORS ROTARY ACTUATORS (seconds maximum)
UNIT ACTUATOR WEIGHT UNIT ACTUATOR WEIGHT UNIT shock speed
SIZE lb kg SIZE lb kg SIZE pad control shock
RISxx25 3 1.36 3 RIDxx25 4.1 1.86 RISxx25 0.13 0.18 0.18
RIDxx25 3.5 1.59 3 RIDxx32 9.6 4.36 RIDxx25 0.23 0.41 0.23
RISxx32 7.6 3.44 3 RIDxx50 17.6 7.98 RISxx32 0.11 0.11 0.31
RIDxx32 8 3.63 RIDxx32 0.28 0.30 0.32
RISxx50 14.3 6.48 RISxx50 0.13 0.22 0.29
RIDxx50 15 6.80 RIDxx50 0.28 0.40 0.78
3D-11
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
OPTIONS: SERIES RI ROTARY ACTUATOR
over a wide range eliminates the need to order special units for UNIT ANGLE ADJUSTMENT
specific angles of rotation. SIZE KIT NO.*
The angle adjustment screw has a shock pad as standard RISxx25 69223-01
RIDxx25 69230-01
providing quiet actuator operation in less demanding applications.
RISxx32 69226-01
In more demanding applications, the optional shock absorbers RIDxx32 69231-01
should be specified to handle the higher energy dissipation. RISxx50 69226-01
RIDxx50 69233-01
*ANGLE ADJUSTMENT KITS INCLUDE:
FOR RISxx UNITS - 1 ANGLE ADJUSTMENT SCREW AND 1 NUT
FOR RIDxx UNITS - 1 ANGLE ADJUSTMENT SCREW, 1 NUT,
1 THREAD SEAL AND 1 SEAL WASHER
1 KIT REQUIRED PER END OF ADJUSTMENT DESIRED.
2X B
2X A
2X C 2X D
1 2
8
3
7
6 5
2X B
2X A
2X C
1 2
8
2X D
7
6 5
3
8
7
4
6 5
3
8
installed in the Series RI rotary actuator. See pages 3D-19 through
7
2X D
4
6 5
NOTE: The shock absorber doubles as the rotation adjustment. should be used in Series RI Rotary Actuators. The use of any other
Shock absorbers or angle adjustment option must be installed in the shock absorbers will affect actuator performance and life
rotary actuator prior to operating the unit. Operation of units without expectancy.
installed shocks or angle adjustment can damage the units and void PHD recommends replacing shocks every 1,000,000 cycles to
any and all warranties. Only shock absorbers specified by PHD maintain peak actuator performance and life.
REED SWITCHES
PART NO. DESCRIPTION
67902-1-02 PNP or NPN 4.5 - 30 VDC, 2 m cable
67902-1-05 PNP or NPN 4.5 - 30 VDC, 5 m cable
SWITCH INTO GROOVE 67922-1 PNP or NPN 4.5 - 30 VDC, Quick Connect
IN EITHER SIDE
Ø C PROXIMITY SWITCH
BRACKET ASSEMBLY
3RIxxx25 ONLY
STANDARD BRACKET
3 POSITION BRACKET
A
STANDARD BRACKET
A
B UNIT LETTER DIMENSION
SIZE A B C
3 POSITION BRACKET RIxx125 .504 .413 .197
RIxx525 [12.8] [10.5] [5.0]
A RIxx132 .571 .452 .197
RIxx532 [14.5] [11.5] [5.0]
RIxx150 .748 .571 .315
RIxx550 [19.0] [14.5] [8.0]
METRIC INFORMATION SHOWN IN [ ].
VIEW AA
3D-15
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
ACCESSORIES: SERIES RI ROTARY ACTUATOR
PORTING PLATE FASTENER
This accessory provides a convenient conversion from the LOCATION MARK
CUSTOMER PORTING PLATE
manifold output hub interface to a threaded port interface. It allows
LOCATING RING
the use of the manifold hub feature of the Series RI Rotary Actuator, O-RING
without the need to drill communication holes through the attached LOCATION MARK
tooling. It also allows the plumbing of secondary actuators using the
fittings and tubing of your choice.
The Porting Plate is made from 6061-T6 aluminum and is
machined on all sides insuring flat and parallel mounting surfaces.
Four drilled and tapped holes are provided to attach your tooling. RIxx25 UNIT SHOWN AT MID-ROTATION
Location accuracy is maintained through the use of locating rings
SCREW REQUIRED
and dowel pin holes. KIT SIZE SCREW TORQUE
The Porting Plate also features numbered ports corresponding UNIT NUMBER (SHCS) in-lb Nm
to the rotary actuator input ports. A location mark keeps proper port RIx125 71972 10-32 x .5 75 8.5
alignment simple during assembly. RIx525 71997 M5 x 0.8 x 12 75 8.5
RIx132 71973 1/4-28 x .75 150 16.9
RIx532 71998 M6 x 1.0 x 22 150 16.9
RIx150 71975 5/16-24 x .875 250 28.2
RIx550 72000 M8 x 1.25 x 25 250 28.2
3D
LOCATION RINGS
These accessories provide accurate body and hub positioning.
The location sleeve fits into either the top or bottom H7 tolerance
counter bore holes on the PHD Series RI body or hub. They provide
dowel pin accuracy without requiring the additional space for a
dowel. Location rings allow either through bolt or tapped body
mounting to be used. The mounting bolt is placed through the
location ring, simultaneously securing and locating the mating parts.
The body locating ring kit consist of two hardened and ground
steel sleeves sized to press into the H7 tolerance counter bored
holes on either the top or bottom of the Series RIS body.
The hub locating ring kit consists of two hardened and ground
steel sleeves, sized to press into the hub counter bores located on
the top of the Series RI hub.
[6.0] [75.0] [12.0] +[.005]/-[.013] [3.0] [35.0] [6.0] +[.003]/-[.018] [5.0] [9.0]
8
RIxx525
3
7
RIxx132 .236 3.937 .472 +.0002/-.0005 .079 1.811 .315 +.0001/-.0007 .236 .354 6 5
RIxx532 [6.0] [100.0] [12.0] +[.005]/-[.013] [2.0] [46.0] [8.0] +[.003]/-[.018] [6.0] [9.0]
RIxx150 .349 4.528 .709 -.0002/-.0006 .276 2.283 .394 +.0001/-.0007 .315 .591
RIxx550 [8.9] [115.0] [18.0] -[.005]/-[.015] [7.0] [58.0] [10.0] +[.003]/-[.018] [8.0] [15.0]
BODY LOCATING RING KIT
METRIC INFORMATION SHOWN IN [ ].
NOTE: LOCATING RINGS ARE TO BE PRESSED INTO BODY AND PINION E D
2X F
A
RIxxx25 69216
7
4
3
8
RIxxx32 69217 1 2
RIxxx50 69219
PINION LOCATING RING KITS INCLUDE
2 LOCATING RINGS
BODY LOCATING RING KIT
2X A
NUT DIMENSIONS
K THREAD E
K THREAD G
M
2X B
H H
J F
J F
3D
APPLICATION EXAMPLES
LATHE LOADER CAM SHAFT FINISHING PROCESS
In this application, a combination of a slide, two grippers, and In this application, two grippers are combined with a Series RI
a rotary actuator load and unload parts from a lathe. One Series Rotary Actuator to load and unload cam shafts into a grinding
190 Gripper grasps a blank part on a holding rack while another machine for finishing. First a Series SK Slide, mounted to a gantry,
Series 190 Gripper grasps a finished part in the lathe. A Series SK will provide the reaching motion as a Series
Slide extends out, and the finished part is removed from the lathe 5300 Gripper picks up the unfinished cam
while the blank part is removed from the holding rack. A Series RI shaft. The Series RI Rotary Actuator
Rotary Actuator then rotates clockwise. The slide retracts, the blank rotates the grasped cam to the top
part is loaded into the lathe, and the finished part is released into a position. The gantry then cycles back
holding bin. The Series RI Rotary Actuator is beneficial for this to the grinding machine, the
application due to its high torque output and the capability of second gripper is extended down
routing airlines and switch cables through the pinion. This feature into the machine to pick up the
eliminates any external airlines, which could wear or sever causing finished cam shaft, the slide
catastrophic damage. retracts, the rotary actuator
rotates the grippers and
shafts, and the unfinished
cam is loaded into the
machine. Finally the
finished cam shaft is moved
and placed in a completion
tray on a conveyor. The
Series RI Rotary Actuator is
ideal for this application
due to its high torque
output and the capability of
routing airlines and switch
cables through the pinion.
3D-18
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATOR SELECTION: SERIES RI
SIZING AN RI UNIT WITH
ANGLE ADJUSTMENTS
STEP 1 STEP 5
Determine Rotational Mass Moment of Inertia (Jm) Compare Peak Velocity (ω) to Allowable Impact
Select the illustration from the application types on page Compare your peak velocity to the maximum allowable
3D-22 that most resembles your specific application. Several velocity for the given Mass Moment of Inertia (Jm) of your
separate calculations may be necessary to fully describe your application. The chart is labeled Shock Pad Energy
application. Using the appropriate application equation, Capacity. The charts represent the total amount of energy that
calculate the mass moment of inertia for the type of condition is able to be absorbed and provide acceptable motion of the
illustrated. The total mass moment of inertia is the sum of the actuator. Acceptable motion is defined as a maximum of one
individual calculations. degree of motion reversal when the load comes to end of
stroke. Note: You may run slightly higher velocities and loads
STEP 2 than these charts provide and not damage the unit; however,
Determine Necessary Acceleration (αs) you may find the motion profile unacceptable. Please contact
This equation calculates the acceleration required to move the PHD if you are considering using the Series RIx actuator
desired rotation in the desired time. The solution is given in outside of the recommended energy range and shock
radians/sec2. absorbers are not a desired option. If the shock pad does not
.035 x Rotation Angle in Degrees provide enough stopping capacity for your application, go to
Acceleration (rad/sec2) = αS = the next sizing section titled “Sizing a RIx Unit with Shocks.”
(Time of Rotation in Seconds)2
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.
3D-19
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
ROTARY ACTUATOR SELECTION: SERIES RI
SIZING AN RI UNIT WITH SHOCKS STEP 7
STEP 6 Calculate the Kinetic Energy (Ke)
Compare Peak Velocity (ω) to Allowable Impact This formula calculates the kinetic energy of your application.
Compare your peak velocity to the maximum allowable This value will be used to calculate the actual total energy to be
velocity for the given Mass Moment of Inertia (Jm) of your compared to the maximum allowable total energy.
application. The chart is labeled Shock Energy Kinetic Energy (in/lb [Nm]) = Ke = 1/2 Jm ω2
Capacity. The charts represent the total amount of energy that
is able to be absorbed and provide acceptable motion of the STEP 8
actuator. Acceptable motion is defined as a maximum of one Calculate the Propelling Energy (Pe)
degree of motion reversal when the load comes to end of These formulas calculate the additional amount of energy that
stroke. Note: You may run slightly higher velocities and loads the shock will experience due to the piston force of the actuator.
than these charts provide and not damage the unit; however, UNIT Pe = Propelling Energy
you may find the motion profile unacceptable. Please contact SIZE in/lb Nm
PHD if you are considering using the Series RIxxx actuator RISxx25 .1902 x psi .3116 x bar
outside of the recommended energy range. RIDxx25 .3804 x psi .6233 x bar
RISxx32 .935 x psi 1.5321 x bar
RIDxx32 1.621 x psi 2.6556 x bar
SHOCK ENERGY CAPACITY RISxx50 2.283 x psi 3.7411 x bar
3D
35.0 RISx32
against the charted maximum.
30.0
25.0 Energy/Hour (in/lb [Nm]) = Cycles/Hour x Et
20.0 MAX ALLOWABLE CHART (Em)
15.0 Ke*
RIDx32 UNIT Energy/Hour
10.0 SIZE in-lb Nm in-lb/Hr Nm/Hr
5.0 RISxx25 75 8.5 300,000 33,890
0 RIDxx25 75 8.5 300,000 33,890
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0
[.057] [.113] [.170] [.226] [.283] [.339] [.395] [.452] [.508] [.565] RISxx32 225 25.4 400,000 45,190
Moment of Inertia (in-lb sec2) [Nms2] RIDxx32 255 25.4 400,000 45,190
RISxx50 225 25.4 400,000 45,190
30.0
RISx50 and RIDx50 RIDxx50 1860 210.2 600,000 67,791
25.0 RISx50
ACCEPTABLE MOTION CHART (Ea)
VELOCITY (rad/sec)
3D-20
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATOR SELECTION: SERIES RI
DETERMINING ALLOWABLE ATTACHED
LOAD WEIGHT
Following are the steps required to determine the allowable STEP 15
attached load weight on the Series RIx rotary actuator. You will need Calculate the Deceleration (αd)
to know the weight of the attached load, the orientation of the rotary, This formula calculates the deceleration of the unit based on
and the center of gravity distance of the load from the hub face. the peak velocity of the individual actuator. The solution is
Please refer to the supplied formulas to determine each of the given in radians/sec2
allowable conditions. UNIT SIZE αd = Deceleration (rad/sec2)
RIxxx25 ω2/1.032
STEP 12 RISxx32 ω2/2.571
Determine Allowable Attached Load Weight (Lf) RIDxx32 ω2/2.229
The next step in determining the proper Series RIx RISxx50 ω2/1.920
actuator size is to determine the bearing capacity of the RIDxx50 ω2/2.330
unit according to your application requirements. STEP 16
Calculate Stopping Torque (Td)
STEP 13 This is the kinetic energy used to stop a rotary load to your
Calculate Maximum Actuator Radial Loading (Lm) application conditions. This formula is one of the components
This formula calculates the maximum radial loading allowed for required when comparing reaction forces on the bearing. Using
the Series RI actuator based on 5,000,000 cycles and the axial the identical illustrations and formulas on pages 3D-21 and 3D-22
load (La) that you are placing on the bearings. Note: Center of used when calculating the required starting torque, replace the
Gravity distance is different depending on if the unit is acceleration value with the deceleration value. This is the
horizontal or vertical. In horizontal applications, (Cg) is the reaction torque required to stop the load. PHD recommends a
distance from the mounting face of the hub to the (Cg) of the safety factor of 1 to 1.25.
load. In vertical applications, (Cg) is the distance from the
centerline of the hub to (Cg) of the load. Stopping Torque (in/lb) = TA, TAg
Balanced Load TA = Jm x αd x SF
La = Axial Load Weight (lb) Unbalanced Load TAg = [(Jm x αd) + (Fg x k)] x SF
Cg
Horizontal Orientation (in) STEP 17
(Cg) = Distance from Face of Hub to Calculate Radial Bearing Load At Stopping (LS)
Center of Gravity of Load This formula converts the sum torque’s of the propelling torque
and stopping torque into the reaction force on the two
Vertical Orientation (in) Cg bearings.
(Cg) = Distance from Centerline of Hub
to Center of Gravity of Load UNIT Radial Bearing Load at Stopping (LS)
SIZE lb N
RIxxx25 (Tp + Td)/.96875 (Tp + Td)/.0246
Max Actuator Radial Loading (Lm) RIxxx32 (Tp + Td)/1.1667 (Tp + Td)/.0296
RIxxx50 (Tp + Td)/1.5625 (Tp + Td)/.0399
UNIT
SIZE IMPERIAL METRIC
-1.4175 (La) + 1106.86 -36.0024 (La) + 125042.4 STEP 18
RIxxx25 Lm = Lm = Calculate Max. Fixed Radial Load (Lf)
1.933 + Cg 49.1 + Cg
-46.0702 (La) + 340706.2 This formula will produce the maximum radial load weight that
RIxxx32 Lm = -1.8138 (La) + 3015.57 Lm = can be safely attached to the rotary actuator, given the axial
2.5 + Cg 63.5 + Cg
load weight and (Cg) distance of your application.
RIxxx50 Lm = -2.699 (La) + 6573.92 Lm = -68.5696 (La) + 742656
3.553 + Cg 90.25 + Cg
Max Fixed Radial Load (Lf) = Lm - Ls
STEP 14
Calculate Propelling Torque (Tp) STEP 19
This formula is one of the components required when Compare (Lf) to Actual Load Affixed to Actuator (Lr)
comparing reaction Compare the (Lf) value to the weight of the attached load. If the
forces on the UNIT Propelling Torque (Tp) attached load is less than the (Lf) value, the actuator is correct
bearing. You may SIZE in-lb Nm for your application. If the attached load is greater than the (Lf)
use the formula or RISxx25 .369 x psi .6047 x bar value, go to the next size actuator and rerun the above
simply look up the RIDxx25 .737 x psi 1.2077 x bar calculations until the (Lf) value is greater than the attached
torque produced by RISxx32 .727 x psi 1.1913 x bar load weight.
the rotary actuator at RIDxx32 1.454 x psi 2.3827 x bar
a specified pressure. RISxx50 2.378 x psi 3.8969 x bar Lr = Weight of Attached Load
RIDxx50 4.755 x psi 7.7921 x bar
3D-21
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
ROTARY ACTUATOR SELECTION: SERIES RI
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)
T = Torque required to rotate load (in-lbs) α = Acceleration (rad/sec2) t = time (sec)
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)
T = Torque required to rotate load (N-m) α = Acceleration (rad/sec2) t = time (sec)
M = Mass = Fg / g (kg) SF = Safety Factor
BALANCED LOADS
T = Jm x α x SF
Disk Disk Solid Sphere
Mounted on center End mounted on center Mounted on center
3D
L
k
k k
2
Jm = Fg x k 2 Fg
2
Fg 1
g 2 Jm =
g
x
4
x ( L3 + k ) 2
Jm =
5
x
g
x k2
k dim is
radius
b of rod
Tg = Rotating Vertically
(with gravity)
a a
2 2 2 2
Jm = Fg x a + b Jm = Fg x a + 3k
T = Rotating Horizontally g 12 g 12
(without gravity)
c
of rod
4
7
b
b
k
Fg a Fg1 a Fg1
Fg 2 2
Fg2 (4b2 + 3k2)
(Fg
2 2 2 2
Jm =
g
x k2 Jm = Fg1 x 4a + c + Fg2 x 4b + c
g 12 g 12
Jm =
g1
x (4a + 3k ) +
12 g
x)( 12
)
3D-22
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
SIZING EXAMPLE: SERIES RI ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 1
Weight = 32.2 lb
Rotation Angle = 180°
Pressure = 87 psi
Orientation = Horizontal k
Center of Gravity Distance = 2" 4.00
Desired Cycle Rate = .75 sec k
Safety Factor: Acceleration = 2
Deceleration = 1 6Ø
Axial Load = Ø
Radial Load (Lr) = 32.2 lb
Cycles per Minute = 40
EXAMPLE 1
STEP 8 Calculate Propelling Energy (Pe)
Determine Required Starting Torque for Application
RISx25 = .1902 x psi
STEP 1 Determine (Jm) Pe = .1902 x 87 = 16.55 in-lb
Fg k2 32.2 32
Jm = x = x STEP 9 Calculate Total Energy (Et)
g 2 386.4 2
Jm = .0833 x 4.5 = .375 in-lb-sec 2 Et = Ke + P e
Et = 21.87 + 16.55 = 38.42 in-lb
STEP 2 Determine (αA)
Angle Rotation STEP 10 Compare Maximum Total Energy (Em) to Total Energy (Et)
in Degrees and Acceptable Motion Energy to Total Energy
αA = .035
Time of Rotation Em ≥ E t 75 ≥ 38.42
in Seconds2
180 Ea ≥ Et 64.4 ≥ 38.42
αA = .035 = 11.2 rad/sec2
(.75)2
SHOCKS WILL PERFORM AS DESIRED
STEP 3 Starting Torque
T = Jm x αA x SF STEP 11 Calculate Energy per Hour (Eh)
T = .375 x 11.2 x 2 = 8.4 in-lb Cycles/Hr = Cycles/min x 60
RISxx25 WILL PRODUCE SUFFICIENT TORQUE Cycles/Hr = 40 x 60 = 2400
Check for Stopping Capacity Eh = 2400 x 38.42 in-lb = 92,208 in-lb/hr
300,000 ≥ 92,208
STEP 4 Calculate Peak Velocity (ω)
RISxx25
STEP 12 Calculate Allowable Attached Load Weight
ω = .045 x Average Velocity (refer to chart pg. 19)
Axial Load from Application = La
180
ω = .045 x = 10.8 rad/sec
.75 La = Ø
STEP 5 Compare to Graph (refer to pg.3D-19)
STEP 13 Calculate Max Actuator Radial Loading (Lm)
SHOCK PAD WILL NOT PERFORM AS DESIRED
Determine Cg Distance = 2"
This velocity is greater than the shock
pad allows, go to the section labeled -1.4175 (La) + 1106.86
Lm =
“Sizing an RIx Unit with Shocks” 1.933 + Cg
Lm = 281.43 lb
STEP 6 Compare Peak Velocity to Allowable Impact Velocity for
a given (Jm) Load using Shock Absorbers STEP 14 Calculate Propelling Torque (Tp)
Compare to graph on page 3D-20.
Tp = .369 x psi
RISx is acceptable for this application.
Tp = .369 x 87 psi = 32.103 in-lb
STEP 7 Calculate Kinetic Energy (Ke) STEP 15 Calculate Deceleration (αd)
Ke = 1/2 x Jm x ω2 αd = ω2/1.032
Ke = 1/2 x (.375) x (10.8)2 = 21.87 in-lb αd = (10.8)2/1.032
αd = 113.0 rad/sec2
3D-23
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
SIZING EXAMPLE: SERIES RI ROTARY ACTUATOR
EXAMPLE 1 CONT.
STEP 16 Calculate Stopping Torque (Td) (from STEP 7 STEP 18 Calculate Max Fix Radial Load (Lf)
pg. 3D-20) Lf = L m - L s
Td = Jm x αd x SF
Lf = 281.43 - 76.88
Td = .375 x 113.0 x 1 = 42.375
Lf = 204.54
Td = 42.375
STEP 19 Compare Max Fix Radial Load (Lf) to Actual Load Affixed to
STEP 17 Calculate Radial Bearing Load at Stopping (Ls) Actuator (Lr)
Lf ≥ L r
(from chart pg. 3D-21)
204.54 ≥ 32.2 lb
Ls = (Tp + Td)/.96875 RISxx25 FITS THIS APPLICATION
Ls = (32.103 + 42.38)/.96875
Ls = 76.88 lb
24"
Rotation Angle = 180°
Pressure = 65 psi 4"
Orientation = Vertical
Center of Gravity Distance = 10"
Desired Cycle Rate = 1.25 sec 10"
Safety Factor: Acceleration = 2 Deceleration = 1
Cycles per Minute = 20 cyc/min = 1200 cyc/hr
Axial Load (La) = 31 lb gripper
Radial Load (Lr) = Ø mounting
plate
EXAMPLE 2
Check for Stopping Capacity
Determine Required Starting Torque for Application
STEP 4 Calculate Peak Velocity (ω)
STEP 1 Determine (Jm)
for Mounting Plate RIDxx32
ω = .028 x Average Velocity
Fg a2 + b2 ω = .028 x
180
= 4.032 rad/sec
Jm = g x
12 1.25
15 (24)2 + (4)2 STEP 5 Compare Peak Velocity to Allowable Impact Graph
Jm = x
386.4 12 (pg. 3D-19)
Jm = .0388198 x 49.333 This velocity is in the range of shock pads
but not with the attached load Jm of 6.055
Jm = 1.9151 in-lb-sec2 it is closer to handling .25 in-lbs2, go to
“Sizing an RIxx Unit with Shocks”
Jm for 2 Point Loads (Gripper)
Fg STEP 6 Compare Peak Velocity to Allowable Impact Velocity for
Jm = g
x k2 a given (Jm) Load using Shock Absorbers
8 Compare to graph on page 20.
x 102 = 2.0704 in-lb-sec2
386.4 RIDxx32 is acceptable for this application.
Total Jm = 1.9151 + 2(2.0704)
Jm = 6.056 in-lb-sec2 STEP 7 Calculate Kinetic Energy (Ke)
STEP 2 Determine (αA)
Ke = 1/2 x Jm x ω2
180 Ke = 1/2 (6.056) x (4.032)2 = 49.225 in-lb
αA = .035 = 4.032 rad/sec2
(1.25)2
STEP 3 Starting Torque
TA = Jm x αA x SF
TA = 6.056 x 4.032 x 2
TA = 48.836 in-lb
RIDxx32 WILL PRODUCE SUFFICIENT TORQUE
3D-24
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
SIZING EXAMPLE: SERIES RI ROTARY ACTUATOR
EXAMPLE 2 CONT.
STEP 8 Calculate Propelling Energy (Pe) STEP 14 Calculate Propelling Torque (Tp) (refer to chart
RIDx32 = 1.621 x psi pg. 3D-20)
RIDx32 =
Pe = 1.621 x (65 psi) = 105.37 in-lb
Tp = 1.454 x psi
STEP 9 Calculate Total Energy (Et) Tp = 1.454 x 65 psi = 94.51 in-lb
Et = Ke + Pe
STEP 15 Calculate Deceleration (αd)
Et = 49.225 + 105.37 = 154.6 in-lb
αd = ω2/2.229
STEP 10 Compare Maximum Total Energy (Em) to Total Energy (Et) αd = (4.032)2/2.229
Em ≥ Et 225 ≥ 154.6 αd = 7.29 rad/sec2
Ea ≥ Et 225 ≥ 154.6
STEP 16 Calculate Stopping Torque (Td) (from STEP 7
SHOCK WILL PERFORM AS DESIRED pg. 3D-20)
Td = 6.056 x 7.29 x 1
STEP 11 Calculate Energy per Hour (Eh)
Td = 44.15 in-lb
Cycles/Hr = Cycles/min x 60
STEP 17 Calculate Radial Bearing Load at Stopping (Ls) (refer to
Cycles/Hr = 40 x 60 = 2400
chart pg. 3D-21)
Eh = 2400 x 154.6 in-lb = 371,040 in-lb/Hr
Ls = (Tp + Td)/1.1667
371,040 ≤ 400,000
Ls = 138.7/1.1667
3D-25
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/ri
APPLICATION EXAMPLE: SERIES RI ROTARY ACTUATOR
LATHE LOADER
In this application, a combination of a slide, 2 grippers, and a
rotary actuator load and unload parts from a lathe. One Series 190
Gripper grasps a blank part on a holding rack while another Series
190 Gripper grasps a finished part in the lathe. A Series SK Slide
extends out, and the finished part is removed from the lathe while
the blank part is removed from the holding rack. A Series RI Rotary
Actuator then rotates clockwise. The slide retracts, the blank part is
loaded into the lathe, and the finished part is released into a holding
bin. The Series RI Rotary Actuator is beneficial for this application
because of its integral airlines. This feature eliminates any external
airlines, which could wear or sever causing catastrophic damage.
3D
3D-26
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/ri CAT-03 INDUSTRIAL AUTOMATION
INDEX:
ROTARY ACTUATORS Ordering Data
Page 3D-28
SERIES RF
NEW!
Benefits
Page 3D-29
Dimensions
Pages 3D-30 and 3D-31
Low Profile Design Provides High Torque
Engineering Data
Page 3D-32
Options
Pages 3D-33 and 3D-34
Accessories
Pages 3D-35 and 3D-36
Rotary Actuator
Selection
Pages 3D-37 to 3D-40
Sizing Example
Pages 3D-41 to 3D-43
3D-27
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf
3D
3D-28
TO ORDER SPECIFY:
Product, Series, Type, Design No., BORE
Bore Size, Rotation, and Options. SIZE ROTATION SPEED CONTROL VALVE
14 mm PB - Rotational Speed Controls both directions
PRODUCT TYPE 20 mm PC - Rotational Speed Controls counterclockwise OPTIONS
R - Rotary S - Pneumatic 25 mm PW - Rotational Speed Controls clockwise Q19 - Hollow Pinion
(800) 624-8511
www.phdinc.com/rf
R F S 1 25 x 180 - PB - AB - Q19
SERIES DESIGN NO. ROTATION ANGLE ADJUSTMENT
F - Low Profile 1 - Imperial 180° (Standard)
5 - Metric AB - Angle adjustment with shock pad
installed both ends
NOTE: This option must be ordered with the unit.
1) Switches and switch kits must be ordered separately.
ROTATION SPEED CONTROL REPLACEMENT KITS
CAT-03
UNIT IMPERIAL NO. METRIC NO. SERIES 5580 HALL EFFECT SWITCHES
RFSx14 PART NO. DESCRIPTION
68946-01 68947-01
RFSx20
55803-1-02 NPN 4.5 - 24 VDC with 2 meter cable
RFSx25 68946-03 68947-03
55804-1-02 PNP 4.5 - 24 VDC with 2 meter cable
NOTE: One Rotational Speed Control fitting per kit. 55823-1 NPN 4.5 - 24 VDC with Quick Connect
55824-1 PNP 4.5 - 24 VDC with Quick Connect PRO
PROXIMITY SWITCH KITS M D
O
T
U
RFSx14 69700
RFSx20 69700 55802-1-02 NPN or PNP 4.5 - 24 VDC with 2 meter cable
F
RFSx25 69702 55822-1 NPN or PNP 4.5 - 24 VDC with Quick Connect IT D
TO E
NE
CORDSETS WITH QUICK CONNECT 6mm SQUARE INDUCTIVE PROXIMITY SWITCHES
ORDERING DATA: SERIES RF ROTARY ACTUATOR
SOLUTIONS FOR
! pages for adders.
INDUSTRIAL AUTOMATION
BENEFITS: SERIES RF ROTARY ACTUATOR
BENEFITS
■ Series RF Rotary Actuators feature a low profile body design
with a large output mounting hub to cover a wide range of
applications.
■ Available in three sizes with a standard rotation of 180° and
torque ranging from 7 to 67 in-lb at 100 psi [0.8 to 7.7 Nm
at 7 bar].
■ The Series RF rack and pinion design features high tensile
steel racks and a one-piece pinion/output hub providing
durability and long life.
■ Zero backlash at ends of rotation for precise rotary positioning.
■ Appropriate PHD Series SHP Slides and Series GRT Grippers
bolt directly to the Series RF output hub.
■ All units feature built-in standard angle adjustments and are
infinitely adjustable from 0 - 180° of rotation.
■ Standard internal urethane shock pads provide quiet operation
and end of stroke deceleration with precise repeatability
provided by a hard stop .
■ Standard through mounting holes in the body are threaded to ■ Optional switch kits allow the use of either PHD Series 5580
provide versatility and ease of mounting of the actuator. switches or Series 18431 6 mm square inductive proximity
■ Available in imperial and metric versions for flexibility of switches for easy interfacing to electrical controls.
design for a world market. ■ Optional port flow controls provide accurate control of
rotation speed.
Direct Mounting for One Piece Pinion Switch Slot
PHD Series GRT and Output Hub Sealed
Grippers and Series Radial Bearing Switch Target Groove
SHP Slides
SPECIFICATIONS SERIES RF
PISTON SEALS Block Vee
PISTON One Piece with Rack
PINION SHAFTS One Piece Alloy Steel with Integral Output Hub
RACKS Alloy Steel
END CAPS Clear Anodized Aluminum THEORETICAL TORQUE
BODY Hard Coated Aluminum
UNIT SIZE in-lb/psi [Nm/bar]
BEARINGS Radial Ball Bearing
PORTS NPT [BSPP] RFSx14 .07 [.11]
BREAKAWAY PRESSURE Under 15 psi [1 bar] RFSx20 .24 [.40]
RFSx25 .67 [1.09]
LUBRICATION Permanent for Non-Lube Air
WORKING PRESSURE 100 psi [7 bar] Maximum
STANDARD ROTATIONS Fully Adjustable (0 to 180°)
BACKLASH No Backlash at End of Rotation
LIFE Designed for 5 Million Trouble-Free Cycles
OPERATING TEMPERATURE -20° to 160°F [-28.9° to 71.1°C]
3D-29
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf
DIMENSIONS: SERIES RF ROTARY ACTUATOR, SIZE 14 & 20
F 6 J
2X E
2X Ø V ±.0005
[±.013] SEE NOTE 1
2X Ø AA ±.0005 [±.013]
THRU ON W BOLT
Y HOLE CIRCLE
A ØD B
W
2X T THD THRU 2X S 3X Z THREAD THRU
C’BORE OPPOSITE ON W BOLT HOLE CIRCLE
2X G
SIDE FOR U SHCS
2X CC THREAD THRU
H ON Y BOLT HOLE
R 2X BB
5 2X DD CIRCLE
3D
1
K
L
2X P PORT
4 M
2
C
NOTES: 3
1) THRU HOLES IN THE HUB ARE CLEARANCE FOR
SHCS MOUNTING OF THE UNIT FROM THE HUB SIDE
2) NUMBERS IN CIRCLES INDICATE PORT POSITION
3) OUTPUT HUB SHOWN AT MID-POSITION
F 6 J
2X E
2X Ø V ±.0005 3X Z THREAD THRU
[±.013] SEE NOTE 1 ON W BOLT
HOLE CIRCLE
4X THRU &
C’BORE OPPOSITE 2X Ø AA ±.0005 [±.013]
SIDE FOR U SHCS Y THRU ON W BOLT
HOLE CIRCLE
2X S 3X FF A Ø D B
4X T THD
x EE DP W
2X G
2X CC THEAD THRU
ON Y BOLT HOLE CIRCLE
H 2X BB
R
5 2X DD
1
K
2X P PORT L
4 M
2
C
3
NOTES:
1) THRU HOLES IN THE HUB ARE CLEARANCE FOR
SHCS MOUNTING OF THE UNIT FROM THE HUB SIDE
2) NUMBERS IN CIRCLES INDICATE PORT POSITION
3) OUTPUT HUB SHOWN AT MID-POSITION
3D-32
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rf CAT-03 INDUSTRIAL AUTOMATION
OPTIONS: SERIES RF ROTARY ACTUATOR
ROTATION SPEED CONTROL
PB BOTH DIRECTIONS UNIT LETTER DIMENSION
SIZE A B C D E ØF M N
The PHD Series RF Rotary Actuators offer optional external RFS114 .984 .827 .015 .035 .394 .156 .303 .606
compact flow control fittings for adjusting output hub rotation RFS514 [25.0] [21.0] [0.4] [0.9] [10.0] [4.0] [7.7] [15.4]
RFS120 .984 1.043 .136 .156 .394 .156 .433 .780
speed. The speed of the hub is controlled by regulating the cylinder RFS520 [25.0] [26.5] [3.5] [4.0] [10.0] [4.0] [11.0] [19.8]
exhaust. The control fittings are unidirectional flow control valves RFS125 1.614 1.043 .089 .109 .650 .250 .630 1.26
where intake air flows freely through the flow control and exhaust is RFS525 [41.0] [26.5] [2.3] [2.8] [16.5] [6.4] [16.0] [32.0]
metered out through an adjustment screw. Intake capacity is slightly METRIC INFORMATION SHOWN IN [ ].
greater than the full open exhaust capacity, enabling maximum
variation of hub rotation speed.
The PHD Series RF flow control fittings are mounted directly to
Ø F TUBE SIZE
the caps and provide an integral tube fitting connection. They also
swivel 360° around the ports, providing easy installation of tubing.
Rotational velocities are adjusted and maintained by the captivated
E SQ
fine adjustment screw with a locking nut to ensure precise velocity
control and repeatability in output hub rotation speed.
B
D
ROTATION SPEED CONTROL
REPLACEMENT KIT NO.
UNIT SIZE IMPERIAL METRIC
RFSx14 and RFSx20 68946-01 68947-01 C
RFSx25 68946-03 68947-03
1 KIT REQUIRED PER END OF ADJUSTMENT DESIRED
NOTE: ONE PORT CONTROL FITTING PER KIT M
Ø KK
MM Ø LL
HOLLOW PINION O-RING KIT
UNIT SIZE KIT NO.
14 —
20 3642-059-1
25 3642-064-1
A PORT THREAD
SECTION C-C
TARGET FASTENER
C
B C
PHD Series GRT Grippers and Series SHP Slides to the Series RF
Rotary Actuator. The kit includes an anodized, 6061-T6 aluminum,
transition plate, pre-drilled to mount to the rotary actuator hub,
along with the associated mounting hardware. The mounting holes
for the secondary unit are to be machined by the customer.
14.0
calculations are theoretical, an appropriate safety factor
should be considered. PHD recommends a minimum safety 12.0
factor of 2 to account for friction loss, air line and valve size,
10.0
and attached accessories.
8.0
RFSx25
6.0
Starting Torque (in/lb) = TA, TAg RFSx20
Balanced Load TA = Jm x αA x SF 4.0
Unbalanced Load TAg = [(Jm x αA) + (Fg x k)] x SF RFSx14
2.0
0.0
0 0.005 0.01 0.015 0.02
[.00057] [.00113] [.00169] [.00226]
2 2
Attached Load, Moment Of Inertia (in-lb-sec ) [Nm-s ]
3D-37
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf
ROTARY ACTUATOR SELECTION: SERIES RF
SIZING A SERIES RF UNIT BASED ON BEARING
CAPACITY
STEP 6
The charts on the next page are divided into two categories.
The charts on the left are used when axial and radial loads are
known. Use these charts to determine if your application is within
the allowable attached load for a specific size. Refer to the proper
charts based on your intended actuator orientation and load. The
charts on the next page 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
3D
Cg
3D-38
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rf CAT-03 INDUSTRIAL AUTOMATION
ROTARY ACTUATOR SELECTION: SERIES RF
AXIAL VS. RADIAL LOAD LIMITS LOAD VS. CENTER OF GRAVITY DISTANCE
Distance
CG
LOAD
LOAD
LOAD
[4.45]
1.334
Load lb [N]
1.5 [5.94]
[6.67] 0.8
[3.56]
0 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4
[0.89] [1.78] [2.67] [3.56] [4.45] [5.34] [6.23] [7.12] [8.01] [8.90] [5.08] [10.16] [15.24] [20.32] [25.4] [30.48] [35.56]
5.0
[22.24]
4.55
[20.24] RFSx20 3
[13.35]
RFSx20
1.799 2.59
4.5 [11.52]
[20.02] [8.00]
Maximum Radial Load 2.5
4.0 [11.12]
[17.79]
Radial Load lb [N]
3.5
[15.57] 2
Load lb [N]
2.59 [8.90]
3.0 [11.52]
[13.35]
2.5 1.5
[11.12] [6.67]
Combined Maximum Load
2.0
[8.90]
Maximum Axial Load 1
1.5 3.79 [4.45]
[6.67] [16.86]
1.0
[4.45] 0.5
[2.22]
0.50
[2.22]
0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.5 1 1.5 2 2.5
[2.22] [4.45] [6.67] [8.90] [11.12] [13.35] [15.57] [17.79] [12.7] [25.4] [38.1] [50.8] [63.5]
7.60
8
[33.81] RFSx25 4.5
[20.02]
4.32
[19.22]
RFSx25
[35.59] 2.811
[12.50] 4
7 [17.79]
[31.14] Maximum Radial Load
3.5
6 [15.57]
[26.69]
Radial Load lb [N]
4.32 3
Load lb [N]
5 [19.22] [13.35]
[22.24]
2.5
4 [11.12]
[17.79]
2
Combined Maximum Load [8.90]
3
[13.35] Maximum Axial Load 1.5
6.33 [6.67]
2 [28.16]
[8.90] 1
[4.45]
1 0.5
[4.45] [2.22]
0 0
0 1 2 3 4 5 6 7 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
[4.45] [8.90] [13.35] [17.79] [22.24] [26.69] [31.14] [12.7] [25.4] [38.1] [50.8] [63.5] [76.2] [88.9] [101.6] [114.3]
3D-39
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf
ROTARY ACTUATOR SELECTION: SERIES RF
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)
T = Torque required to rotate load (in-lbs) α = Acceleration (rad/sec2) t = time (sec)
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)
T = Torque required to rotate load (N-m) α = Acceleration (rad/sec )
2
t = time (sec)
M = Mass = Fg / g (kg) SF = Safety Factor
BALANCED LOADS
T = Jm x α x SF
Disk Disk Solid Sphere
Mounted on center End mounted on center Mounted on center
3D
L
k
k k
2
Jm = Fg x k 2 Fg
2
Fg 1
g 2 Jm =
g
x
4
x ( L3 + k ) 2
Jm =
5
x
g
x k2
k dim is
radius
b of rod
Tg = Rotating Vertically
(with gravity)
a a
2 2 2 2
Jm = Fg x a + b Jm = Fg x a + 3k
T = Rotating Horizontally g 12 g 12
(without gravity)
b b
k
Fg a
Fg1 a Fg1
Fg 2 2
Fg2 (4b2 + 3k2)
(Fg
2 2 2 2
Jm =
g
x k2 Jm = Fg1 x 4a + c + Fg2 x 4b + c
g 12 g 12
Jm =
g1
x (4a + 3k ) +
12 g )(
x
12
)
3D-40
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rf CAT-03 INDUSTRIAL AUTOMATION
SIZING EXAMPLE: SERIES RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 1 CG
Weight = .75 lb + .25 lb Plate
Rotation Angle = 180° 1.125"
Pressure = 65 psi
Orientation = Vertical .75 lb
Center of Gravity Distance = 1.125" for .75 lb .5"
.5" for .25 lb .25 lb
Desired Cycle Rate = .35 sec
Safety Factor = 2
Axial Load = .75 lb + .25 lb 2"
EXAMPLE 1
STEP 1
STEP 4
Determine Jm of Plate mounted off center
Calculate Peak Velocity
Fg1 4a2 + c2 Fg2 4b2 + c2 180
Jm = x + x Average Velocity = = 514.28 deg/sec
g 12 g 12 .35
.083 4(1)2 + (2)2 .167 4(2)2 + (2)2 Peak Velocity = .024 x Average Velocity(rad/sec)
x + x
386.4 12 386.4 12
Peak Velocity = .024 x 514.28 = 12.34 rad/sec
(.0002148 x .6667) + (.000432195 x 1.6667) STEP 5
.000143 + .000720326 Compare the Peak Velocity
αA = 51.429 rad/sec2
STEP 3
Starting Torque
T = Jm x αA x SF
T = .00331 x 51.429 x 2
T = .3405 in-lb
3D-41
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf
SIZING EXAMPLE: SERIES RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 2
Weight = 1.5 lb
Rotation Angle = 180°
Pressure = 60 psi
Orientation = Horizontal
1"
Center of Gravity Distance = .5"
Desired Cycle Rate = .5 sec
Safety Factor = 2
Axial Load = Ø
Cycles per minute = 20
2.60 Ø
EXAMPLE 2
STEP 1 STEP 5
Determine Jm Compare the Peak Velocity
(Equation is from page 14, Disk Mounted on Center)
Check this value against the Shock Pad Energy Capacity chart
Fg K2
Jm = x on page 3D-37.
3D
g 2
1.5 (1.3)2 • The size 14 cannot handle the Jm value of .0038. The size 14
Jm = x
386.4 2 cannot stop the load.
Jm = .00328 in-lb-sec2 • The size 20 can stop the load and perform the task in the
required time.
STEP 2
STEP 6
Determine Acceleration
Determining the bearing capabilities of a Size 20.
.035 x Rotation Angle in Degrees
Acceleration (rad/sec2) = αA = We now check the loading condition against the Load vs. CG
(Time of Rotation in Seconds)2
Distance chart for the size 20 on page 3D-39.
180
αA = .035 x We see that a size 20 can handle approximately 2 lbs at
(.5)2
.5 inches from center of gravity distance.
αA = 25.2 rad/sec2 Therefore; the RFSx20 is suitable for this application.
STEP 3
Starting Torque
(Equation is from page 14)
T = Jm x αA x SF
T = .00328 x 25.2 x 2
T = .165 in-lb
STEP 4
Calculate Peak Velocity
180
Average Velocity = = 360 degrees/sec
.5
3D-42
(800) 624-8511 SOLUTIONS FOR
www.phdinc.com/rf CAT-03 INDUSTRIAL AUTOMATION
SIZING EXAMPLE: SERIES RF ROTARY ACTUATOR
APPLICATION INFORMATION - EXAMPLE 3
Weight = 1.75 lb
Rotation Angle = 180°
2.80 Ø 1"
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 STEP 5
Determine Jm Compare the Peak Velocity
(Equation is from page 14, Disk Mounted on Center)
Fg K2 Compare this value to the Shock Pad Energy Capacity chart on
Jm = x page 11.
g 2
1.75 (1.4)2 • The size 14 will handle the Jm value at the rated Peak
Jm = x
386.4 2 Velocity.
STEP 3
Starting Torque
(Equation is from page 3D-40)
T = Jm x αA x SF
T = .0044 x 6.3 x 2
T = .055 in/lb
STEP 4
Calculate Peak Velocity
180
Average Velocity = = 180 degrees/sec
1.0
3D-43
SOLUTIONS FOR (800) 624-8511
INDUSTRIAL AUTOMATION CAT-03 www.phdinc.com/rf