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SMC Networks CRA1 Series Operation Manual

Rotary actuator
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Doc. No.CRA1-OM00006-D
PRODUCT NAME
Rotary Actuator
MODEL / Series / Product Number


C(D)RA1
30 to 100-
Z

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Summary of Contents for SMC Networks CRA1 Series

  • Page 1 Doc. No.CRA1-OM00006-D PRODUCT NAME Rotary Actuator MODEL / Series / Product Number   C(D)RA1 30 to 100-...

  • Page 2: Table Of Contents

    Contents Safety Instructions Outline Specification Effective torque Foot bracket Rotation range of keyway How to adjust the air cushion Internal structure and parts description Rotary actuator internal structure Basic circuit for using rotary actuator Circuit configuration Mounting Restriction of the load Operation of shaft couplings Piping and operating direction Operating air...

  • Page 3: Safety Instructions

    Safety Instructions These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) , and other safety regulations.
  • Page 4 Safety Instructions Caution We develop, design, and manufacture our products to be used for automatic control equipment, and provide them for peaceful use in manufacturing industries. Use in non-manufacturing industries is not covered. Products we manufacture and sell cannot be used for the purpose of transactions or certification specified in the Measurement Act.
  • Page 5 Design / Selection Warning 1. Confirm the specifications. Products represented in this catalog are designed only for use in compressed air systems. Do not operate at pressures or temperatures, etc., beyond the range of specifications, as this can cause damage or malfunction. (Refer to the specifications.) We do not guarantee against any damage if the product is used outside of the specification range.
  • Page 6 13. Provide a shock absorber if the kinetic energy that is applied to the product exceeds the allowable value. If the product’s kinetic energy exceeds the allowable value, it could damage the product, and cause a hazard to humans and damage the machinery or equipment. 14.
  • Page 7 Mounting Warning 1. Operation manual Install the product and operate it only after reading the operation manual carefully and understanding its contents. Also, keep the manual in a location where it can be referred to as necessary. 2. Ensure sufficient space for maintenance activities. When installing the products, allow access for maintenance.
  • Page 8 Backlash of the Single Rack Pinion Type CRA1 Series There is a backlash of within 1° at the rotation end of the CRA1 series. It is necessary to decide the position of the external stopper when precise rotation is required.
  • Page 9 Precautions when Converting Rotational Motion to Linear Motion When using a link mechanism, etc., to convert rotational motion to linear motion, and determining the operation end using the stopper on the linear motion end (see below), a small value for θ at the operation end may result in the torque of the rotary actuator causing excessive radial load to act on the output axle, and equipment breakage may occur.
  • Page 10 3. Wrapping of pipe tape When screwing piping or fittings into ports, ensure that chips from the pipe threads or sealing material do not enter the piping. Also, if tape is used, leave 1.5 to 2 thread ridges exposed at the end of the threads.
  • Page 11 2. When there is a large amount of moisture Compressed air containing a large amount of moisture can cause malfunction of pneumatic equipment. An air dryer or water separator should be installed upstream from filters. 3. Drain flushing If condensation in the drain bowl is not emptied on a regular basis, the bowl will overflow and allow the condensation to enter the compressed air lines.
  • Page 12 2. Maintenance work If handled improperly, compressed air can be dangerous. Assembly, handling, repair and element replacement of pneumatic systems should be performed by a knowledgeable and experienced person. 3. Drain flushing Remove drainage 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.
  • Page 13 Auto Switches Precautions Design / Selection Warning 1. Confirm the specifications. If the product is used with excess load applied or beyond the specification range, this may cause the product to break or malfunction. We do not guarantee against any damage if the product is used outside of the specification range.
  • Page 14 8. Provide enough space for the lead wire. Applying stress to the lead wire and auto switch body connection part increases the risk of disconnection. Provide a space of at least the min. bending radius from the lead wire and auto switch body connection part.
  • Page 15 2) If the internal resistance of a light emitting diode causes a problem, select an auto switch without an indicator light. <Solid state / 2-wire type> Generally, the internal voltage drop of the solid state auto switch is larger than that or the reed auto switch.
  • Page 16 5. Mount an auto switch at the center of the operating range. In the case of 2-color display auto switch, mount it at the center of the green LED illuminating range. Adjust the mounting position of the auto switch so that the piston stops at the center of the operating range.
  • Page 17 5. Avoid repeatedly bending or stretching lead wires. Broken lead wires will result from repeatedly applying bending stress or stretching force to the read wires. Stress and tensile force applied to the connection between the lead wire and auto switch increases the possibility of disconnection.
  • Page 18 Operation Environment Warning 1. Never use in an atmosphere with explosive gases. The structure if auto switches is not intended to prevent explosion. This may lead to explosion hazard. Caution 1. Do not use in an area where a magnetic field is generated. Auto switches will malfunction or magnets inside rotary actuators will become demagnetized.
  • Page 19 Maintenance Warning 1. Removal of equipment, and supply/exhaust of compressed air. Before any machinery or equipment is removed, first ensure that the appropriate measures are in place to prevent the fall or erratic movement of driven objects and equipment, then cut off the electric power and reduce the pressure in the system to zero.
  • Page 20 Rotary Actuator How to Use the Air-hydro Type Caution on Design Warning 1. Do not use a rotary actuator of the air-hydro type near flames, or in equipment or machinery that exceeds an ambient temperatures of 60°C. There is a danger of causing a fire because the rotary actuator of the air-hydro type uses a flammable hydraulic fluid.
  • Page 21 Piping Caution 1. For rotary actuator of the air-hydro type piping, use self-aligning fittings. Do not use a one-touch fitting with the piping for the rotary actuator of the air-hydro type, as this may result in oil leakage. 2. For rotary actuator of the air-hydro type piping, use hard nylon tubing or copper piping. As in the case of hydraulic circuits, surge pressures greater than the operating pressure may occur in a rotary actuator of the air-hydro type’s piping, making it necessary to use safer piping materials.

  • Page 22: Outline

    Outline This operation manual is for rack pinion type Rotary actuator. Cautions will be given on the load (inertia moment), rotation time and others. Please read through the manual before starting operation. Specification Table (1) Specification Type Pneumatic Air-hydro Size Fluid Air(Non-lube) Hydraulic oil...

  • Page 23: Effective Torque

    Table (4) Rotary actuator inner volume Rotation angle Size 90° 100° 180° 190° ― ― Effective torque Table (5) Effective torque table (N･m) Operating pressure (MPa) Size 0.38 0.76 1.14 1.53 1.91 2.29 2.67 3.05 3.44 3.82 1.85 3.71 5.57 7.43 9.27 11.2...

  • Page 24: Rotation Range Of Keyway

    Rotation range of keyway If air pressure is applied from the A port side, the shaft rotates clockwise. If air pressure is applied from the B port side, the shaft rotates counterclockwise. Size 30 Stopper screw A：For end adjustment in clockwise direction Stopper screw B：For end adjustment in counter clockwise direction Fig.
  • Page 25 Angle adjustable type (size 50 to 100) Fig. (3) Rotation range of shaft keyway (angle adjustable type) How to adjust angle Hexagon nut When angle adjustment of an angle adjustable type is performed, loosen the hexagon nut using a wrench. And adjust the hexagon socket set screw using the hexagonal wrench.

  • Page 26: How To Adjust The Air Cushion

    How to adjust the air cushion How to adjustment When with air cushion type used, an adjustment must be made in accordance with the operating speed and the moment of inertia of the load. Rotating the cushion valve reduces the orifice diameter and increases cushion effect. Counterclockwise increase orifice diameter and reduces cushion effect.

  • Page 27: Internal Structure And Parts Description

    Internal structure and parts description Rotary actuator internal structure Without air cushion Size 30 Size 50 to 100 - 26 -...
  • Page 28 Component parts Description Material Note Body Aluminum alloy Anodized Right cover Aluminum alloy Metallic painting Left cover Aluminum alloy Metallic painting Piston Aluminum alloy Shaft Alloy steel Rack Carbon steel Nitriding Stopper Alloy steel Hexagon socket set screw Alloy steel Zinc Chromated Slider Resin...
  • Page 29 With air cushion (size 30) With air cushion (size 50 to 100) Component parts Description Material Note Cushion ring Aluminum alloy Anodized Cushion valve Steel Zinc chromated Cushion seal Urethane O-ring Seal retainer Steel Retaining ring Steel - 28 -...
  • Page 30 With auto switch Size 30 Size 50 to 100 Component parts Description Material Note Auto switch Magnet Switch spacer Resin - 29 -...
  • Page 31 Angle adjustable type Component parts Description Material Note Right cover (Angle adjustable type) Aluminum alloy Metallic painting Piston (Angle adjustable type) Aluminum alloy Stopper Carbon steel Zinc chromated Hexagon socket set screw Alloy steel Zinc chromated O-ring Angle adjustment collar Carbon steel Zinc chromated Seal washer...
  • Page 32 Air-hydro type Component parts Description Material Note Right cover (air-hydro) Aluminum alloy Metallic painting Left cover (air-hydro) Aluminum alloy Metallic painting Bleeder Valve Carbon steel Check ball High carbon chromium bearing steel - 31 -...

  • Page 33: Basic Circuit For Using Rotary Actuator

    Basic circuit for using rotary actuator Circuit configuration The basic circuit for operating the rotary actuator using an air filter, regulator, solenoid valve, and speed controller is shown in Fig. (6). Speed controller Regulator Air filter Solenoid Rotary actuator valve Fig.

  • Page 34: Mounting

    Mounting Restriction of the load Provided that a dynamic load is not generated, a load in the axial direction can be applied up to the value that is indicated in the table (8) below. However, applications in which the load is applied directly to the shaft should be avoided as much as possible.

  • Page 35: Piping And Operating Direction

    Also, if pipe tape is used, as in Fig. (11), leave 1.5 to 2 thread ridges exposed at the end of the threads. Operating air Air supplied to the rotary actuator shall be cleaned by the filter. CRA1 series is lubrication free. Fig. (11) Wrapping of pipe tape - 34 -...

  • Page 36: Setting Rotation Time

    Setting rotation time Even if the torque that is generated by the rotary actuator is small, the parts could become damaged depending on the inertia of the load. Therefore, the rotation time should be determined by calculating the load’s inertial moment and kinetic energy. Moment of inertia Inertia moment indicates scales how hard to rotate the object, and also how hard to stop rotating object.

  • Page 37: Equation Table Of Moment Of Inertia

    Equation table of moment of inertia I：Moment of inertia kg・m m：Load mass kg ① Thin shaft ⑥ Thin round plate Position of rotational axis: Perpendicular to the Position of rotational axis: Through the center of shaft through the center of gravity. diameter ②...

  • Page 38: Kinetic Energy

    Kinetic energy Table (10) shows the allowable kinetic energy of the rotary actuator. The end angular speed ωis obtained by: Table (10) Allowable kinetic energy Allowable kinetic energy (J) Size Without With Air Cushion Air Cushion θ：Rotation angle 0.01 0.12 (90°:1/2πrad) (180°:πrad) 0.05...

  • Page 39: External Stopper

    There is backlash of the gear because the CRA1 series is a single rack type. (It is within 1° at the rotation end.) When there is no backlash, and an accurate positional precision is necessary, an external stopper is needed.

  • Page 40: Calculation Of Required Torque

    Calculation of required torque Load type The calculation method of required torque varies depending on the load type. - 39 -...

  • Page 41: Auto Switch Type For Rotary Actuator

    Auto switch type for rotary actuator The rotary actuator with auto switch has a piston with magnet mounted and an auto switch mounted no the body externally to detect the piston (magnet) position. Auto switch specification Table (11) Reed auto switch specification Auto switch Indication light Load...
  • Page 42 Table (12) Solid state auto switch specification Auto switch Indication part no. Applicable light Wiring Electrical Load voltage load (illuminated (Output) entry Perpendicular In-line when ON) 5,12VDC 3-wire D-M9NV D-M9N (NPN) 24VDC IC circuit Relay 5,12VDC 3-wire D-M9PV D-M9P (PNP) 24VDC 12VDC Relay...

  • Page 43: Proper Auto Switch Mounting Position And Operating Range

    Proper auto switch mounting position and operating range Fig. (15) Operating range of auto switch Fig. (14) Proper auto switch mounting position Table (13) Operating range of auto switch D-M9□/M9□V Auto switch model D-A9□/A9□V D-M9□W/M9□WV D-M9□A/M9□AV Operating Operating Proper mounting Proper mounting range range...

  • Page 44: Auto Switch Operation Principle

    Auto switch operation principle Magnet A Magnet B Auto switch B Auto switch A A port B port Fig. (16) Auto switch operation principle In the diagram above, auto switch B is ON. When pressure is applied from A, the piston moves to B, causing the shaft to rotate clockwise.

  • Page 45: Maintenance And Inspection

    Maintenance and Inspection Periodic inspection is necessary for optimum use. Generally, annual inspection is recommended for the rotary actuator. Even if no problem is found, seal parts replacement is recommended every three years. It is highly possible that the actuator is operated out of specification when the components like shaft, pinion, rack, bearing are broken.
  • Page 46 Table (16) Angle adjustable type replacement parts Description Model Product No. Part name Amount Slider 2pcs CRA1□□U50 P694020-22 Tube gasket 2pcs CRA1□□U63 P694030-22 Piston seal 2pcs Spring pin 4pcs CRA1□□U80 P694040-22 Seal washer 1pcs CRA1□□U100 P694050-22 (Grease pack) (10g) Table (17) Air-hydro type replacement parts Description Model Product No.

  • Page 47: Disassembly Procedure And Assembly Procedure

    Disassembly procedure and assembly procedure Ⅰ. Size 30 ■Disassembly procedure 1. Loosen the hexagon nut to remove the hexagon socket set screw with the hexagon nut from the body 2. Loosen the cross recessed round head tapping screw to remove the bearing retainer with the shaft from the body.
  • Page 48 ■Assembly procedure 1. Apply the grease provided in the seal kit to parts shown in Table (18). Table (18) Parts where grease is to be applied Application of grease Grease Body (inner sliding surface) Piston (Seal groove) Slider (Sliding surface) GR-S-10 Tube gasket Piston seal...
  • Page 49 Ⅱ. Size 50 to 100 ■Disassembly procedure 1. Loosen the cross recessed round head tapping screw to remove the bearing retainer with the shaft from the body . Remove the lower bearing from the body housing at this time. 2. Loosen the hexagon socket head cap screw with washers to remove the cover from the body.
  • Page 50 ■Assembly procedure 1. Apply the grease provided in the seal kit to parts shown in Table (19). Table (19) Parts where grease is to be applied Application of grease Grease Body (inner sliding surface) Piston(Seal groove) Slider(Sliding surface) GR-S-010 Tube gasket Piston seal Cushion seal（For with air cushion）...
  • Page 51 Ⅲ. Angle adjustable type ■Disassembly procedure 1. Loosen the cross recessed round head tapping screw to remove the bearing retainer with the shaft from the body . Remove the lower bearing from the body housing at this time. 2. Loosen the hexagon socket head cap screw with washers to remove the cover from the body.
  • Page 52 ■Assembly procedure 1. Apply the grease provided in the seal kit to parts shown in Table (20). Table (20) Parts where grease is to be applied Application of grease Grease Body (inner sliding surface) Piston(Seal groove) Slider(Sliding surface) GR-S-010 Tube gasket Piston seal Seal washer 2.

  • Page 53: Troubleshooting

    Troubleshooting Reference Problem Possible cause Solution page Supply pressure isn’t Correctly set the regulator at the supply applied correctly. pressure side. The directional switching Correctly apply a signal to the valve (such as a directional switching valve (such as a solenoid valve) doesn’t solenoid valve).
  • Page 54 Reference Problem Possible cause Solution page Please confirm the presence of the wound in the cylinder inner wall after cleaning the inside of the cylinder. Please do the following treatment on that. (1)Please exchange packing when there is no wound in the cylinder. Air leakage from Piston packing is worn the shaft.
  • Page 55 Reference Problem Possible cause Solution page External stopper remove, and please confirm the range of all swings of the actuator, and install external stopper in There is no margin on correct position. swing angle of actuator, In this case, please provide a buffer hence swing range of angle to the stroke of the actuator actuator is...
  • Page 56 Revision history A：Add variation. B：Add Size30 with air cushion type. C：P.35,P.36 Notation of insulation resistance unit change. D：Revised safety instructions. Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362 https://www.smcworld.com Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer. ©...

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