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9

5.

How To Set Rotation Time

Due to inertia of the load, even a small torque generated by Rotary Actuator may cause damage

to the shaft and internal parts. Therefore, consider the inertia of the load and kinetic energy to set rotarion
time.

5-1

．

Moment of Inertia

①

Moment of inertia is effort required to turn an object, in other words, effort required to stop it.

              When an object is moved by Rotary Actuator, the object has inertia force. Large impact (kinetic energy)
              is applied to Rotary Actuator when Actuator stops at the stroke end. Kinetic energy can be calculated by
              using the formula below.

E = 1/2 x I x ω

2

E

：

Kinetic energy (J)

I

：

Moment of inertia (kg

.

m

2

)

ω

：

Angular speed

(rad/s)

②

Since allowable kinetic energy Rotary Actuator is limited, of rotation time can be obtained by finding

moment of inertia. How to find moment of inertia is described below.

Moment of inertia can be indicated by the formula below.

I = m x r

2

m:

：

Mass (kg)

This is moment of inertia to rotation axis of an object with mass m in the distance from the rotation axis.

2020-08-27 13:47

DI006501

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Содержание CRB2BW40 Series

Страница 1: ...ACTUATOR Part number Series Vane Type C R B2BW 40 Thoroughly read and understand this operation manual to install and operate this product Pay particular attention to the safety statements Retain this operation manual to read whenever needed ...

Страница 2: ...rts 3 2 1 Single Vane Type 3 2 2 Double Vane Type 4 3 Basic Circuit 5 3 1 Circuit Configuration 5 3 2 Preferred Components 5 4 Installation 6 4 1 Air Supply 6 4 2 Piping 6 4 3 Shaft Load Limit 6 4 4 Coupling 7 4 5 Operating Environment 8 4 6 Using Body As Flange 8 5 Setting of Rotation Time 9 5 1 Moment of Inertia 9 11 5 2 Kinetic Energy 12 5 3 External Stopper 13 14 6 Maintenance and Inspection 1...

Страница 3: ...rial Standards JIS 1 and other safety regulations 1 ISO 4414 Pneumatic fluid power General rules relating to systems ISO 4413 Hydraulic fluid power General rules relating to systems IEC 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements ISO 10218 1992 Manipulating industrial robots Safety etc Caution Operator error could result in injury or equipment damage Wa...

Страница 4: ...the safety measures as mentioned above are implemented and the power from any appropriate source is cut and read and understand the specific product precautions of all relevant products carefully 3 Before machinery equipment is restarted take measures to prevent unexpected operation and malfunction 4 Contact SMC beforehand and take special consideration of safety measures if the product is to be u...

Страница 5: ...r necessary parts will be provided This limited warranty applies only to our product independently and not to any other damage incurred due to the failure of the product 3 Prior to using SMC products please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products 2 Vacuum pads are excluded from this 1 year warranty A vacuum pad is a consumab...

Страница 6: ...the possibility of a reduction in the circuit air pressure caused by a power failure When an actuator is used as clamping mechanism there is a danger of workpiece dropping if there is a decrease in clamping force due to a drop in circuit pressure caused by a power failure Therefore safety equipment should be installed to prevent damage to machinery and bodily injury 7 Consider the possibility of p...

Страница 7: ...ect The lubricant coating the interior of the product may leak to the outside of the product from connecting parts of the rotary body cover etc 17 Do not disassemble the product or make any modifications including additional machining This may cause human injury and or an accident 18 Refer to the Auto Switches Precautions when using with an auto switch Selection 1 Do not use below the adjustment r...

Страница 8: ...e surrounding equipment 7 Do not enlarge the fixed throttle by modifying the pipe connectors If the hole diameter is enlarged the product s rotation speed will increase causing the shock force to increase and damage to the product As a result it could pose a hazard to humans and damage the machinery and equipment 8 If shaft couplings are to be used use those with angular freedom If shaft couplings...

Страница 9: ...interior breakage of the internal seal or acceleration of abrasion may occur 1 Do not use organic solvent to wipe the area of the name plate that shows the model It will erase what is indicated on the name plate 2 Do not hit the output shaft by securing the body or hit the body by securing the output shaft These actions could cause the table to bend or damage the bearing When a load must be couple...

Страница 10: ...adjustment gradually adjust starting from the low speed end If the speed adjustment is performed from the high speed end it could damage the product As a result it could pose a hazard to humans and damage the machinery and equipment For products with shock absorbers when the shock absorber stops moving before reaching the stroke end by using a stopper mechanism with the objective of shortening tac...

Страница 11: ... of 5μm or smaller 3 Take measures to ensure air quality such as by installing an aftercooler air dryer or water separator Compressed air that contains a large amount of moisture can cause malfunction of pneumatic equipment such as rotary actuator Therefore take appropriate measures to ensure air quality such as by providing an aftercooler air dryer or water separator 4 Ensure that the fluid and a...

Страница 12: ...from air filters regularly 4 Removal of equipment and supply exhaust of compressed air When components are removed first confirm that measures are in place to prevent workpieces from dropping run away equipment etc Then cut off the supply pressure and electric power and exhaust all compressed air from the system using the residual pressure release function When machinery is restarted proceed with ...

Страница 13: ...he piston passes the auto switch will operate but if the speed is too great the operating time will be shortened and the load may not operate properly The maximum piston speed is V mm s 1000 2 Keep wiring as short as possible Reed As the length of the wiring to a load gets longer the rush current at switching ON becomes greater and this may shorten the product s life The switch will stay ON all th...

Страница 14: ...der a specified voltage although an auto switch may operate normally the load may not operate Therefore the formula below should be satisfied after confirming the minimum operating voltage of the load Supply Internal voltage Minimum operating voltage drop of auto switch voltage of load 2 If the internal resistance of an LED causes a problem select an auto switch without an indicator light Solid st...

Страница 15: ...or high voltage lines Wire separately from power lines or high voltage lines avoiding parallel wiring or wiring in the same conduit with these lines Control circuits containing auto switches may malfunction due to noise from these other lines 3 Avoid repeatedly bending or stretching lead wires Broken lead wires will result from repeatedly applying bending stress or stretching forces to the lead wi...

Страница 16: ...the black wire the auto switch will be damaged When the cable sheath is stripped confirm the stripping direction The insulator may be split or damaged depending on the direction D M9 only Operation Environment 1 Never use in an atmosphere with explosive gases Auto switches are not designed with explosion proof construction Never use in an atmosphere containing explosive gas since this may cause a ...

Страница 17: ... magnetic substance something attracted by a magnet is brought into close proximity with a rotary actuator with auto switches or a rotary actuator it may cause the auto switch to malfunction due to a loss of the magnetic force inside the rotary actuator 8 Please contact SMC concerning water resistance elasticity of lead wires usage at welding sites etc 9 Do not use in direct sunlight 10 Do not mou...

Страница 18: ...le Vane Rotating Angle Range 90 4 180 4 270 4 0 0 0 90 4 100 0 0 5 Fluid Air Non lube Proof Pressure 1 5 MPa Max Operating Pressure 1 0 MPa Min Operating Pressure 0 15 MPa Kinetic Energy Note2 0 04 J 0 03 J Speed Adjustable Range Note1 0 07 to 0 5 sec 90 Fluid and Ambient Temperature 5 to 60 o C Shaft Type Both shafts Long shaft side w Key Short shaft side single spanner flat Note 1 Since sticking...

Страница 19: ...2 1 3 Effective Torque 1 4 Key Keyway Position and Rotation Range Rotation Range View from Long Shaft Parallel key position in each figure below is when Port B is pressurized ...

Страница 20: ...inum Alloy White 2 Body B Aluminum Alloy White 3 Vane Shaft Carbon Steel NBR 4 Stopper Resin For 270 5 Stopper Resin For 180 6 Bearing Bearing Steel 7 Back up Ring Stainless Steel 8 Hexagon Socket Head Cap Screw Stainless Steel Special bolt 9 O ring NBR 10 O ring NBR 11 Stopper Packing NBR 12 Parallel Key Carbon Steel ...

Страница 21: ...aft Carbon Steel NBR 4 Stopper Aluminum Die Casting For 90 5 Stopper Resin For 90 6 Stopper Aluminum Die Casting For 100 7 Bearing Bearing Steel 8 Back up Ring Stainless Steel 9 Hexagon Socket Head Cap Screw Stainless Steel Special bolt 10 O ring NBR 11 O ring NBR 12 Stopper Packing NBR 13 Parallel Key Carbon Steel ...

Страница 22: ...enoid Valve and Speed Controllers Figure 1 3 2 Preferred Components Table 1 shows preferred components of solenoid valve speed controller and tubing used In the basic circuit as Figure 1 Table 1 Model Solenoid Valve CV Speed Controller Tubing CRB2BW40 0 1 to 0 2 AS1 M5 Note Make sure to use speed controller In meter out control Φ4 Φ2 5 ...

Страница 23: ... piping Flush or wash piping thoroughly to remove chips cutting oil and dust from inside the pipe When screwing together pipes and fittings be certain that chips from the pipe threads and sealing material do not get inside the piping Also when pipe tape is used leave 1 5 to 2 thread ridges exposed at the end of the pipe 4 3 Shaft Load Limit Although static loads shown in Table 2 are allowable avoi...

Страница 24: ...ctuator is used with extended shaft center the shaft of Rotary Actuator and the counterpart If they were decentered load factor partially becomes large and excessive bending moment is applied to the shaft In such a condition stable operation cannot be obtained and the shaft may be damaged In this case use Flexible Fitting Flexible Joint in JIS Figure 3 Caution Warning ...

Страница 25: ... 4 for materials used for Rotary Actuator Do not use the product in dusty places or where water and oil drops splash on Do not use the product in atmospheres containing ozone Do not use the product in atmospheres containing gases which damage metals resins and rubbers 4 6 Using Body As Flange Use JIS hexagon socket head cap screw M4x45L since it fits in the groove of Rotary Actuator Caution ...

Страница 26: ...ct has inertia force Large impact kinetic energy is applied to Rotary Actuator when Actuator stops at the stroke end Kinetic energy can be calculated by using the formula below E 1 2 x I x ω2 E Kinetic energy J I Moment of inertia kg m2 ω Angular speed rad s Since allowable kinetic energy Rotary Actuator is limited of rotation time can be obtained by finding moment of inertia How to find moment of...

Страница 27: ...10 How To Calculate Moment of Inertia Calculation of Moment of Inertia ...

Страница 28: ...on the horizontal axis is below the energy curve CRB2BW40 is applicable Example 2 When CRB2BW40 is used in conditions of moment of inertia of load 1 3x10 4 kg m2 and rotation time 0 15 sec 90 Since the intersection of 1 3x10 4 kg m2 on the vertical axis and 0 15 seconds on the horizontal axis is above the energy curve CRB2BW40 is not applicable In this case consider using larger size or external s...

Страница 29: ...Rotation angle rad t Rotation time s Since Kinetic energy E is E 1 2 I ω2 Rotation time t of Rotary Actuator is t E I 2 2 E Allowable kinetic energy J I Moment of inertia kg m2 θ Rotating angle rad 180o 3 14 rad In uniformly angular accelerated motion angular speed ω and seconds of arc θ are found as follows ω x t 1 θ t d t 1 2 t２ C 2 C is integration constant Since seconds of arc θ is θ 0 at t 0 ...

Страница 30: ...wable energy of Actuator use external buffer mechanism to absorb inertia force The figure below shows correct installation of external stopper Rotary Actuator itself has a slight angular error due to the construction use external stopper when accurate positioning is required ...

Страница 31: ...14 ...

Страница 32: ...se stable speed adjusting range refer to Speed Adjusting Range on page 1 CRB2BW40 90S 90SE How To Disassemble Remove Parallel Key Remove Hexagon Socket Head Cap Screw Secure either Body A or Body B and push out Vane Shaft then separate Body A from Body B Remove Vane Shaft Stoppers and How To Assemble Mount O ring and Vane Shaft to Body B Mount Stopper Packing to Stopper Mount Stoppers and to Body ...

Страница 33: ...fully understand the internal construction before disassembling Exercise caution not to damage packing when reassembling Use caution to prevent damage to sliding surfaces of Body A Body B and Vane Shaft Rubber of Vane Shaft cannot be removed due to baking adhesion ...

Страница 34: ... absorb impact energy External force other than load energy is applied Replace the shaft Avoid excessive external force Offset load due to de centering Replace the shaft Rotation angle failure Breakage of the connection part of the rotation axis or internal stopper Replace the connection part or product Bearing breakage Overload Loads in radial and thrust directions are too heavy Replace bearing M...

Страница 35: ...the latest version 4 14 1 Sotokanda Chiyoda ku Tokyo 101 0021 JAPAN Tel 81 3 5207 8249 Fax 81 3 5298 5362 URL http www smcworld com Note Specifications are subject to change without prior notice and any obligation on the part of the manufacturer 2012 SMC Corporation All Rights Reserved 0120 837 838 ...

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