Precision Rotary Table Guide
Precision Rotary Table Guide
MSUA-OM00002-B
PRODUCT NAME
MSUA1,3,7,20
Contents
Safety Instructions 2
Product description 18
How to order (Basic type) 18
Specification 18
Equivalent size 19
Mass 19
Precautions on model selection 20
Effective torque 21
Calculation formulae for moment of inertia 23
Kinetic energy / Rotation time 24
Allowable kinetic energy and adjustable range of rotation time 24
Moment of inertia 24
Model selection 25
Setting 26
Allowable Load 26
Table rotation range 26
Calculation example of load condition 27
Using body as flange 28
Piping 29
External stopper 30
Mounting position of external stopper 30
Precautions for using external stopper 30
Internal construction and component parts 31
Internal construction of rotary table 31
Rotary table with auto switch 32
How to order (with auto switch) 32
Applicable auto switches 32
Auto switch specification 33
Auto switch orientation 33
Table positioning pin hole rotation range and auto switch mounting position 34
How to change the auto switch detecting position 35
Auto switch operating angle and hysteresis angle 35
Operating range and hysteresis auto switch 36
Maintenance unit 40
Periodic inspection 42
Troubleshooting 43
-1-
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)*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 10218-1: Manipulating industrial robots -Safety.
Caution indicates a hazard with a low level of risk which, if not avoided, could result
Caution in minor or moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could
Warning result in death or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result
Danger in death or serious injury.
-2-
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring the
equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
1.The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
2.When the product is to be removed, confirm that 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 used in any of the following conditions.
1. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or
other applications unsuitable for the standard specifications described in the product catalog.
3. An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4.Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.
Caution
1.The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications
or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
-3-
Limited warranty and Disclaimer
1.The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.
2. For any failure or damage reported within the warranty period which is clearly our responsibility,
a replacement product or 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.
Compliance Requirements
1. The use of SMC products with production equipment for the manufacture of weapons of mass
destruction (WMD) or any other weapon is strictly prohibited.
2. The exports of SMC products or technology from one country to another are governed by the
relevant security laws and regulations of the countries involved in the transaction. Prior to the
shipment of a SMC product to another country, assure that all local rules governing that export
are known and followed.
Caution
SMC products are not intended for use as instruments for legal metrology.
Measurement instruments that SMC manufactures or sells have not been qualified by type approval tests
relevant to the metrology (measurement) laws of each country.
Therefore, SMC products cannot be used for business or certification ordained by the metrology
(measurement) laws of each country.
-4-
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.)
Please contact SMC when using a fluid other than compressed air.
We do not guarantee against any damage if the product is used outside of the specification range.
2. If the operation involves load fluctuations, ascending/descending movements, or changes
in friction resistance, make sure to provide safety measures.
Operating speed will increase, and bodily injury may occur, or damage to the machinery itself may
occur.
3. If there is a chance that the product will pose a hazard to humans, install a protective cover.
If the moving portion of the product will pose a hazard to humans or will damage machinery or
equipment, provide a construction that prevents direct contact with those areas.
4. Be certain that the secured portions will not loosen.
Be certain to adopt a reliable connecting method if the rotary table is used very frequently or if it is used
in a location that is exposed to a large amount of vibrations.
5. There may be cases in which a speed reduction circuit or a shock absorber is required.
If the driven object moves at high speeds or is heavy, it will be unfeasible for only the rotary table’s
cushion to absorb the shock. Therefore, provide a speed-reduction circuit to reduce the rotary table’s
speed before the thrust is applied to the cushion, or an external shock absorber to dampen the shock.
If these countermeasures are taken, make sure to take the rigidity of the mechanical equipment into
consideration.
6. Consider the possibility of a reduction in the circuit air pressure caused by a power failure.
When a rotary table 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 power source related malfunctions that could occur.
For the machinery equipment that rely on power sources such as compressed air, electricity, or
hydraulic pressure, adopt countermeasure to prevent the equipment from causing a hazard to humans
or damage to the machinery and equipment in the event of malfunction.
8. If a speed controller is provided in the exhaust restrictor, implement a safety design taking
the residual pressure into consideration.
If air pressure is applied to the air supply side without residual pressure in the exhaust side, the rotary
table will operate at abnormally high speeds, which could pose a hazard to humans and damage the
machinery and equipment.
9. Consider the behavior of the rotary table in the event of an emergency stop.
Devise a safe system so that if a person engages the emergency stop, or if a safety device is tripped
during a system malfunction such as a power failure, the movement of the rotary table will not cause a
hazard to humans or damage the equipment.
10. Consider the action of the rotary table when restarting after an emergency stop.
Devise a safe design so that the restarting of the rotary table will not pose a hazard to humans or
damage the equipment. Install manually controlled equipment for safety when the rotary table has
to be reset to the starting position.
11. Do not use the product as a shock absorber.
If an abnormal pressure or air leakage occurs, the rotary table’s speed reduction capability could
become severely affected, which could pose a hazard to humans and damage the machinery and
equipment.
-5-
12. Ensure the load energy within the product’s allowable energy value.
If the product’s kinetic energy of the load exceeds the allowable value, it could damage the product,
and cause a hazard to humans and damage the machinery and equipment.
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. Do not stop or hold the product at midpoint by keeping air pressure in the product. (Air
balancers etc.)
For a product lacking an external stopping mechanism, if the directional control valve is closed to keep
the air pressure in the product, in an attempt to stop the product at midpoint, it might not be possible to
maintain that stopped position due to an air leakage. As a result, it could pose a hazard to humans and
cause damage to machinery and/or equipment.
15. Do not use two or more rotary tables with the aim of synchronized movement.
One of the rotary tables may bear the load of operation, making synchronized movement impossible,
and possibly leading to deformation of the equipment.
16. Do not use in a location where adverse effect could be occurred by the oozing of the
lubricant to the exterior.
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 for using with an auto switch.
Caution
1. Do not use below the speed adjustment range specified for the product.
If the product is used below the specified speed adjustment range, it could cause the product to stick,
slip, or the movement to stop.
2. Do not apply an external torque to the product that exceeds the rated output.
If an external force that exceeds the product’s rated output is applied to the product, it could damage
the product.
3. If it is necessary to provide repeatability of the rotation angle, directly stop the load
externally.
Even with a product that is equipped with an angle adjuster, there are times when the initial rotation
angle could change.
4. Do not use under hydraulic pressure.
The product will be damaged if it is used by applying hydraulic pressure.
5. Do not use in a places where there are many temperature fluctuations.
When using in lower temperature applications, use caution so that frost does not occur
inside the cylinder or the piston rod.
Operation may be unstable.
6. Adjust the speed control in the environment in which it will be used in.
Speed adjustment may be changed if the environment is different.
-6-
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.
3. Tighten threads with the proper tightening torque.
When installing the products, follow the listed torque specifications.
4. Before adjusting the angle by supplying air pressure, take appropriate measures to prevent
the equipment from rotating unnecessarily.
When an adjustment is performed under air pressure, the equipment could rotate and fall during the
adjustment, depending on the mounted posture of the equipment. As a result, it could pose a hazard to
humans and damage the machinery and equipment.
5. Do not loosen the angle adjustment screw beyond the allowable adjustment range.
The angle adjustment screw could fall out if it is loosened beyond its allowable adjustment range, which
could pose a hazard to humans and damage the machinery and equipment.
6. Do not place a magnetic object near the product.
The auto switch is a magnetic sensing type. If a magnetic object is placed close to it, the rotary table
could operate suddenly, which could pose a hazard to humans and damage the machinery and
equipment.
7. Do not perform additional machining to the product.
Additional machining to the product can result in insufficient strength and cause damage to the product.
This can lead to possible human injury and damage to the surrounding equipment.
8. 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.
9. If shaft couplings are used, use those with angular freedom.
If shaft couplings that lack angular freedom are used, they could scrape due to eccentricity, leading to
equipment malfunction and product damage. As a result, it could pose a hazard to humans and damage
the machinery and equipment.
10. Do not apply to the shaft a load that exceeds the values given in a catalog.
If a load that exceeds the allowable value is applied to the product, it could lead to equipment
malfunction, a hazard to humans and damage to the machinery and equipment. Provided that a
dynamic load is not generated, a load that is within the allowable radial / thrust load can be applied.
However, applications in which the load is applied directly to the shaft should be avoided whenever
possible. The methods such as those described below are recommended to prevent the load from being
applied directly to the shaft in order to ensure a proper operating condition.
11. Do not use springs, etc., to add force in the rotational movement direction.
When rotational force from an external spring, etc., acts and generates negative pressure on the
product’s interior, breakage of the internal seal or acceleration of abrasion may occur.
-7–
12. Place an external stopper in a position that is away from the rotating table.
If the stopper is placed near the rotating table, the torque that is generated by the product itself will
cause the reaction force which is directed to the stopper to be redirected and applied to the rotating table.
This will lead to the breakage of the rotating table and bearing. As a result, it could pose a hazard to
humans and damage the machinery and equipment.
Install the stopper at a sufficient The external stopper becomes a If an external stopper is installed
distance from the rotating shaft. fulcrum, resulting in the load’s on the opposite side of the load,
inertia force being applied to the the inertia force generated by
table as a being moment. the load is applied directly to the
table.
Stopper
Rotary table
-8-
Caution
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 rotating table by securing the body or hit the body by securing the rotating
table.
These actions could cause the table to bend or damage the bearing.
3. Do not place your foot directly on the table or on the equipment that is coupled to the table.
Placing one’s weight directly onto the rotating table could cause the rotating table or the bearing to
become damaged.
4. If a product is equipped with an angle adjustment function, use it within the specified
adjustment range.
If the product is used outside the specified adjustment range, it could lead to equipment malfunction or
product damage. Refer to the product specifications for details on the adjustment range of the products.
5. A product with an angle adjustment screw is temporarily secured at an arbitrary position within
the adjustable rotating range. Before using product, readjust it to a desired angle and tighten the
screw firmly.
Piping
Caution
1. Refer to the Fittings and Tubing Precautions (Best Pneumatics No.7) for handling one touch
fittings.
2. Preparation before piping
Before piping is connected, it should be thoroughly blown out with air (flushing) or washed to remove
chips, cutting oil and other debris from inside the pipe.
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.
Sealant tape
Winding
direction
Speed Adjustment
Warning
1. To make a speed 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.
-9-
Lubrication
Warning
1. This product should be used without lubrication. Although it will operate even if it is
lubricated, it could lead to sticking or slipping.
Air Supply
Warning
1. Type of fluids
Please consult with SMC when using the product in applications other than compressed air.
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. This may cause malfunction of pneumatic equipment.
If the drain bowl is difficult to check and remove, installation of a drain bowl with an auto drain option is
recommended.
4. Use clean air.
Do not use compressed air that contains chemicals, synthetic oils including organic solvents, salt or
corrosive gases, etc., as it can cause damage or malfunction.
Caution
1. When extremely dry air is used as the fluid, degradation of the lubrication properties inside
the equipment may occur, resulting in reduced reliability (or reduced service life) of the
equipment. Please consult with SMC.
2. Install an air filter.
Install an air filter upstream near the valve. Select an air filter with a filtration size 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 tables. 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 ambient temperature are within the specified range.
If the fluid temperature is 5°C or less, the moisture in the circuit could freeze, causing damage to the
seals and equipment malfunction. Therefore, take appropriate measures to prevent freezing.
- 10 -
Operating Environment
Warning
1. Do not use in an atmosphere having corrosive gases, chemicals, sea water, water, steam, or
where there is direct contact with any of these.
Refer to the construction for information on the rotary table material.
2. Do not expose the product to direct sunlight for an extended period of time.
3. Do not use in a place subject to heavy vibration and/or shock.
4. Do not mount the product in locations where it is exposed to radiant heat.
5. Do not use in dusty locations or where water oil, etc., splash on the equipment.
Maintenance
Warning
1. Perform maintenance inspection according to the procedures indicated in the operation
manual.
If handled improperly, malfunction and damage of machinery or equipment may occur.
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. 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 caution after confirming that appropriate measures are in
place to prevent cylinders from sudden movement.
Caution
1. For lubrication, use the designated grease for each specific product.
The use of a non-designated lubricant could damage the seals.
Please refer to Table 13 on page 37 for where to apply grease and the grease to use.
- 11 -
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.
2. Cautions for use in an interlock circuit
When an auto switch is used for an interlock signal requiring high reliability, devise a double interlock
system to avoid trouble by providing a mechanical protection function, or by also using another switch
(sensor) together with the auto switch.
Also, perform regular maintenance and confirm proper operation.
3. Do not attempt to disassemble, modify (including exchanging the printed circuit boards), or
repair the product.
An injury or failure can result.
Caution
1. Pay attention to the length of time that a switch is ON at an intermediate stroke position.
When an auto switch is placed at an intermediate position of the stroke and a load is driven, at the time
the 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:
2. Take precautions when multiple rotary tables are used close together.
When multiple auto switch rotary tables are used in close proximity, magnetic field interference may
cause the auto switches to malfunction. Maintain a minimum cylinder separation of 40 mm. (When the
allowable interval is specified for each cylinder series, use the indicated value.)
The auto switches may malfunction due to interference from the magnetic fields.
Use of a magnetic screen plate (MU-S025) or commercially available magnetic screen tape can reduce
the interference of magnetic force.
3. Ensure sufficient clearance for maintenance activities.
When designing an application, be certain to allow sufficient clearance for maintenance.
4. Do not mount rotary table with the auto switch on a footing.
If work personnel gets on or puts the work personnel’s foot on the footing accidentally, an excessive load
is applied to the rotary table, causing the rotary table to break.
5. Design the circuit so that any back-flow current does not flow in if a short-circuit trouble
occurs or forced operation is performed to check the operation.
If a back-flow current occurs, this may cause the switch to malfunction or break.
6. When multiple auto switches are required.
“n” indicates the number of auto switches which can be physically mounted on the rotary tables.
Detection intervals depends on the auto switch mounting structure and set position, therefore some
required interval and set positions may not be available.
7. Limitations on detectable position
There are positions or surfaces (bottom surface of the foot bracket, etc.) where the auto switch cannot
be mounted due to the physical interference depending on the rotary table mounting status or mounting
bracket. Select an appropriate auto switch setting position where the auto switch does not interfere with
the rotary table mounting bracket (trunnion or reinforcing ring) after checking it sufficiently.
- 12 -
8. 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 the time.)
1) Use a contact protection box when the wire length is 5m or longer.
2) Even if an auto switch has a built-in contact protection circuit, when the wiring is more than 30m
long, it is not able to adequately absorb the rush current and its life may be reduced.
It is again necessary to connect a contact protection box in order to extend its life. Please consult
SMC in this case.
<Solid state>
Be sure to use a wire length 100m or less.
When the wire length is long, we recommend the ferrite core should be attached to the both ends of
the cable to prevent excess noise. A contact protection box is not necessary for solid state switches
due to the nature of this product construction.
9. Do not use a load that generates surge voltage.
<Reed>
If a surge voltage is generated, the discharge occurs at the contact, possibly resulting in the shortening
of product life.
If driving a load such as a relay that generates a surge voltage, use an auto switch with built-in contact
protection circuit or use a contact protection box.
<Solid state>
If driving a load such as a relay that generates a surge voltage, use a built-in surge absorbing element
type device.
10. Pay attention to the internal voltage drop of the auto switch.
<Reed>
1) Auto switch with an indicator light
・If auto switches are connected in series as shown below, take note that there will be a large voltage
drop because of internal resistance in the light emitting diodes. (Refer to the internal voltage drop in
the auto switch specifications.)
[The voltage drop will be “n” times larger when “n” auto switches are connected.]
Even though an auto switch operates normally, the load may not operate.
・In the same way, when operating under 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.
2) If the internal resistance of a light emitting diode causes a problem, select an auto switch without an
indicator light.
- 13 -
11. Pay attention to leakage current.
<2-wire type>
Current (leakage current) flows to the load to operate the internal circuit even when in the OFF state.
If the criteria given in the above formula are not met, it will not reset correctly (stays ON).Use a 3-wire
switch if this specification will not be satisfied.
Moreover, leakage current flow to the load will be “n” times larger when “n” auto switches are
connected in parallel.
12. Output operation of the solid state auto switch is not stable for 50 [ms] after powered ON.
In the output operation immediately after powered ON or AND connection operation, the input device
(PCL or relay, etc.) may judge the ON position as OFF output or the OFF position as ON output. So,
please make the setting on the equipment so that the input judgement signal is set disabled for 50 [ms]
immediately after powered ON or AND connection. When using SMC’s AHC system (Auto Hand
Changing System) Series MA, please also make this setting.
Mounting / Adjustment
Caution
1. Do not drop or bump.
Do not drop, bump or apply excessive impacts (300m/s2 or more for reed auto switches and 1000m/s2 or
more for solid state auto switches) while handling. Although the body of the auto switch may not be
damaged, the inside of the auto switch could be damaged and cause malfunction.
2. Observe the proper tightening torque for mounting an auto switch.
When an auto switch is tightened beyond the range of tightening torque, auto switch mounting screws,
auto switch mounting brackets or auto switch may be damaged.
On the other hand, tightening below the range of tightening torque may allow the auto switch to slip out
of position.
3. Do not carry a rotary table by the auto switch lead wires.
This may cause disconnection of the lead wire or the internal element to break.
4. Do not use screws other than the set screws installed on the auto switch body to secure the
auto switch.
If using other screws, auto switch may be damaged.
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. (The mounting position shown in the catalog indicates the optimum position at stroke end.)
If mounted at the end of the operating range (around the borderline of ON and OFF), operation will be
unstable depending of the operating environment. Also there are some rotary tables with individual
setting methods for auto switches. If so, mount it in accordance with the indicated method.
Even if 2-color indication solid state auto switches are fixed at a proper operating
range (the green light lights up), the operation may become unstable depending
on the installation environment or magnetic field disturbance.
- 14 -
6. Check the actual actuation status and adjust the auto switch mounting position.
According to the installation environment, the rotary table may not operate even at its proper mounting
position. Even when setting at a midpoint of the stroke, check the actuation status and make the
adjustment in the same manner.
7. Be very careful when handling the auto switch mounting band, as it has a thin structure.
Wiring
Caution
1. Confirm proper insulation of wiring.
If there is any improper insulation (mixed contact with other circuit, grounding fault, or improper
insulation between terminals, etc.) in the wiring, an over-current flows in, causing the auto switch to
break.
2. Wire separately from power lines of high voltage lines, avoiding parallel wiring of wiring in
the same conduit with these lines.
If an inrush current is generated, the noise may cause the auto switch to malfunction.
3. Be certain to connect the load before power is applied.
<2-wire type>
If the power is turned ON when an auto switch is not connected to a load, the auto switch will be
instantly damaged because of excess current (short circuit).
It is the same as when the 2-wire brown lead wire (+, output) is directly connected to the (+) power
supply terminal.
4. Carry out the wiring work after shutting down the power.
If the wiring work is performed with the power turned ON, this may cause electric shock, malfunction, or
damage to the auto switch.
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.
- 15 -
7. Avoid incorrect wiring.
<Reed>
A 24 VDC auto switch with indicator light has polarity. The brown lead wire or terminal No.1 is (+), and
the blue lead wire or terminal No.2 is (-).
[For D-97,(+) is on the no-displayed side,(-) is on the black line side.]
1) If connections are reversed, an auto switch will operate, however, the light emitting diode will not light
up.
Also, take note that a current greater than that specified will damage a light emitting diode and it will
no longer operate.
Applicable model: D-97, D-93A,D-R731*,D-R732*
<Solid state>
1) If connections are reversed on a 2-wire type auto switch, the auto switch will not be damaged if
protected by a protection circuit, but the auto switch will always stay in an ON state. However, it is still
necessary to avoid reversed connections, since the auto switch could be damaged by a load short
circuit in this condition.
2) If connections are reversed (power supply line + and power supply line-) on a 3-wire type auto
switch, the auto switch will be protected by a protection circuit. However, if the power supply line (+) is
connected to the blue wire and the power supply line (-) is connected to the black wire, the auto
switch will be damaged.
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.
Please contact SMC concerting ATEX compliant products.
Caution
1. Do not use in an area where a magnetic field is generated.
Auto switches will malfunction or magnets inside rotary tables will become demagnetized. (Please
consult with SMC if a magnetic field resistant auto switch can be used.)
2. Do not use in an environment where the auto switch will be continually exposed to water.
Although auto switches satisfy IEC standard IP67 construction expect some models (D-A3□, A44□,
G39□, K39□, RNK, RPK) do not use auto switches in applications where continually exposed to water
splash or splay. This may cause improper insulation or malfunction.
3. Do not use in an environment with oil or chemicals.
If auto switches are used in an environment containing coolant, cleaning solvent, various oils, or
chemicals even for a short period of time, this may adversely affect the auto switches, resulting in
improper insulation, malfunction due to swelling of the potting resin, or hardening of the lead wires.
4. Do not use in an environment with temperature cycles.
If temperature cycles other than normal temperature changes are applied, this may adversely affect the
insides of the auto switches.
5. Do not use in an environment where there is excessive impact shock.
<Reed>
When excessive impact (300m/s2 or more) is applied to a reed auto switch during operation, the
contacts may malfunction and generate or cut off a signal momentarily (1ms or less). Please consult
with SMC if a solid state auto switch can be used according to the environment.
- 16 -
6. Do not use in an area where surges are generated.
<Solid state>
If there is an equipment unit (electromagnetic lifter, high-frequency induction furnace, motor, or radio,
etc.) that generates large surges or electromagnetic waves around cylinders with solid state auto
switches or actuators, this may cause the circuit element inside the auto switch to break.
7. Avoid accumulation of iron waste or close contact with magnetic substances.
If many iron particles, such as cutting chips or spatters accumulate around a cylinder with the auto
switches or an actuator or if a magnetic substance (attracted by a magnet) is put close to a cylinder with
the auto switch or an actuator, the magnetic force inside the cylinder or actuator loses, causing the auto
switch to malfunction.
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 mount the product in locations where it is exposed to radiant heat.
11. Take appropriate measures against the lightning surge on the equipment side as the auto
switches do not have any lightning surge resistance specified in the CE marking.
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. Only then should you proceed with the removal of any
machinery and equipment.
When machinery is restarted, proceed with caution after confirming that appropriate measures are in
place to prevent rotary tables from moving suddenly.
2. Do not touch a terminal during energizing.
Touching a terminal during energizing may cause electric shock, malfunction, or auto switch breakage.
Caution
1. Perform the following maintenance periodically in order to prevent possible danger due to
unexpected auto switch malfunction.
1) Secure and tighten auto switch mounting screws.
If screws become loose or the mounting, position is dislocated, retighten them after readjusting the
mounting position.
2) Confirm that there is no damage to lead wires.
To prevent faulty insulation, replace auto switches or repair lead wires, etc., if damage is discovered.
3) Confirm the detection setting position.
・Red light of 1-color display auto switch
Confirm that the set position stops at the center of the operating range (red display area).
・Conform the green light and position of the 2-color display auto switch.
Conform that the set position stops at the center of the appropriate operating range (green display
area). If stopped with the red LED lit, the operation may become unstable due to effects of the
equipment environment or external disturbance. So, set the mounting position at the center of the
appropriate operating range again.
2. Do not use solvents such as benzene, thinner etc. to clean the product.
They could damage the surface of the body and erase the markings on the body. For heavy stains, use a
cloth lightly dampened with diluted neutral detergent, then wipe up any residue with a dry cloth.
- 17 -
Product Description
This operation manual explains “Rack and Pinion Type Rotary table”.
When using the product, load (moment of inertia), rotation time and other factors have to be considered.
So, confirm the specification of the product prior to use.
M S U A 20 – 90 S
Free mount type Connection port position
Bearing type Nil Side ported
A High precision Type E Axial ported
Available with side ported only, when
Nominal size(Torque) equipped with auto switch unit.
1 MSUA 1
Vane Type
3 MSUA 3
S Single vane
7 MSUA 7
20 MSUA 20
Rotating angle
Rotating
Applicable Symbol
angle
90 90o
Single vane
180 180 o
Rotation adjustment range
Single vane: Both ends +/- 5o each
Specifications
Table 1. Specifications
Model MSUA1 MSUA3 MSUA7 MSUA20
- 18 -
Equivalent size
Table 2. Correspondence to equivalent current free-mount types.
Rotary table Free-mount rotary actuator
MSUA 1 → CRBU2W10
MSUA 3 → CRBU2W15
MSUA 7 → CRBU2W20
MSUA 20 → CRBU2W30
Mass
Table 3. Mass (g)
Rotating Basic mass
Size Auto switch unit Note)
angle Single vane
90° 162
1 15
180° 161
90° 262
3 20
180° 260
90° 440
7 28
180° 436
90° 675
20 38
180° 671
Note) Mass of the auto switch unit excluding the auto switch
- 19 –
Precautions on model selection
⚠Caution
Model selection procedures Calculation Example
① Operating conditions ・Applicable model
Pick up operating conditions considering ・Operating pressure
mounting style. ・Mounting style
・Load type
Ts(N・m)
Tf(N・m)
Ta(N・m)
・Shape of load Rotary table:MSUA7-90S
Vertical mounting ・Rotation time t(s) Pressure:0.5MPa
・Rotation angle Mounting style:Vertical
・Load weigth m(kg) Type of load:Inertial load Ta
・Distance between axial core Shape of load:60mmX40mm
H(mm) (square plate)
Rotation time t:0.2 sec
・Mass point distance L(mm)
Rotation angle:90°
Load weight m:0.15kg
Distance between axial core H:30mm
Horizontal mounting
②Required torque
Confirm load conditions shown below, and Effective torque≧Ts Inertial load
select an actuator to satisfy required torque. Effective torque≧(3~5)・Tf 10×Ta=10×I×ω=10×0.0002×π/0.22
・Static load:Ts Effective torque≧10・Ta =0.157N・m〈Effective torque
・Resistance load:Tf OK
・Inertial load:Ta Date 1 and Graph 1 Note:Substitute a numerical value of
⑤ moment of inertai for I.
③Rotation time
Confirm that it is within the adjustable 0.07~0.3s/90° 0.2s/90° OK
rotation time.
⑤Moment of inertia
2 2 2
Find inertial moment of load to calculate I=m×(a +b )/12+m×H I=0.15×(0.062+0.042 )/12+0.15×0.032
energy. Find I. Moment of inertia Date2 =0.0002kg・m2
⑥Kinetic energy
Confirm that kinetic energy of load is within 1/2×(I+Io)×ω2≦Allowable energy 1/2×(0.0002+0.000028)×(2×(π/2)/
allowable range. ω=2θ/t(ω:Terminal angular velocity) 0.2)2 =0.028J<Allowable energy
Note) Moment inertia of table=Io θ:Rotationangle (rad) OK
t:Rotation time (t)
Allowable kinetic energy Date3
- 20 -
Date 1
Effective torque
Table 4. Effective torque table (N・m)
Operating pressure(MPa)
Size
0.15 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
1 ― 0.03 0.06 0.09 0.11 0.14 0.17 ― ― ―
3 0.05 0.09 0.16 0.23 0.31 0.38 0.45 ― ― ―
7 0.14 0.21 0.37 0.52 0.69 0.83 0.98 ― ― ―
20 0.40 0.58 0.99 1.38 1.78 2.19 2.58 2.99 3.39 3.73
- 21 -
Graph 1
MSUA 1 Effective
MSUA1 実効出力 output MSUAMSUA3 実効出力output
3 Effective
0.2 0.5
実効出力 (N・m)
実効出力 (N・m)
0.15 0.4
0.3
0.1
0.2
0.05
0.1
0 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
使用圧力
Operating (MPa)
pressure (MPa) Operating
使用圧力 pressure
(MPa)(MPa)
MSUA7
MSUA 実効出力output
7 Effective MSUAMSUA20 実効出力output
20 Effective
1.2 4
実効出力 (N・m)
1 3.5
実効出力 (N・m)
3
0.8 2.5
0.6 2
1.5
0.4 1
0.5
0.2
0
0 0 0. 0. 0. 0. 0. 0. 0. 0. 0. 1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 1 2 3 4 5 6 7 8 9
Operating
使用圧力 pressure
(MPa) (MPa) 使用圧力
Operating (MPa)
pressure (MPa)
- 22 -
Date 2
C Calculation formulae for moment of inertia I: Moment of inertia [ kg・m 2 ] 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
a r2
I = m・ I = m・
12 4
a
2
3r 2 a 2
I = m・ I = m・
12 12
3. Thin rectangular plate (Including 8. When the rotational axis and load center of
Rectangular parallelepiped) gravity are not consistent
Position of rotational axis: Perpendicular to the
plate through the center of gravity
2
I = K + m・L
K: Moment of inertia around
the load center of gravity
a2 b2
I = m・ r2
12 4.Round plate K = m・
2
Number of teeth=b
b
5. Solid sphere
Position of rotational axis: Through the center of
diameter
2r 2
I = m・
5
- 23 -
Kinetic energy / Rotation time
Date 3
In rotating movement, inertia of load may cause damage to interior parts even if the required
torque of load is small. Select a model after considering moment of inertia of load, kinetic
energy, and rotation time. (The graph of moment of inertia and rotation time is useful for
selecting models.)
MSAU 1 0.0065
MSAU 3 0.017
0.07~0.3
MSAU 7 0.042
MSAU 20 0.073
Operation at speed lower than the adjustable range of rotation time may cause stick slip phenomenon
or operation stop.
Moment of inertia
The moment of inertia indicates how hard it is to rotate an object, and also how hard it is to stop the object
once it is rotating.
An object started by the rotary table is getting to have inertial force.
When the rotary table stops at the stroke end, the actuator will receive a big impact (kinetic energy) due to
the inertial force.
Please refer below for calculation of kinetic energy.
1
E (I I O ) 2 E: Kinetic energy [J ]
2
I: Moment of inertia of load [ kg m 2 ]
Io: Moment of inertia of load [ kg m 2 ]
ω: Angular speed [ rad
s]
- 24 –
Allowable kinetic energy for the rotary actuator is limited. The limit of rotation time is obtained by calculating
the moment of inertia.
Please refer below to calculate the moment of inertia.
I mr2 m : Weight [ kg ]
r : Center of gravity of load and distance of rotational axis [ m ]
This shows moment of inertia of “m (weight)” at “r” distance from the axis of rotation.
The calculation for the moment of inertia depends on the shape of the object.
Date 2 shows formulae to find moment of inertia of various shapes.
Model selection
Select a model by applying the calculated moment of inertia to the graph 2 below.
- 25 -
Setting
Allowable Load
Load and moment applied to the table shall be set lower than the allowable value in the following table 7.
(Operation out of the allowable value may influence life of the product such as excessive play and
deterioration of accuracy.)
Size Allowable radial load(N) Allowable thrust load(N) Allowable moment (N・m)
1 20 15 0.3
3 40 30 0.7
7 50 60 0.9
20 60 80 2.9
Fig.2
- 26 -
Calculation example of load condition
Fig.3
- 27 –
Using body as flange
High precision rotary table can be mounted from 5 directions, 2 axial directions and 3 body side
directions.
Bottom mounting
body taps (4)
Size Tap depth for the Tap depth for the top Bolt
bottom mounting mounting
1 8 4 M4
3 8 7 M4
7 10 7 M5
20 11 7 M6
Size L Bolt
1 38 M4
3 44 M4
7 50 M5
20 59 M6
- 28 –
Piping
Fig. 4 and Table 10 show port position and size.
Table. 10 Port size
Port size
Size
Side ported Axial ported
1 M3X0.5
3 M5X0.8 M3X0.5
7 M5X0.8
20 M5X0.8
b) When screwing piping or fittings into ports, ensure that chips from the pipe threads or sealing material
do not enter the piping. Also, if pipe tape is used, leave 1.5 to 2 thread ridges exposed at the end of the
threads.
Sealant tape
Winding
direction
- 29 –
External stopper
When kinetic energy generated by load exceeds the allowable kinetic energy of the actuator, inertial force
should be absorbed by providing a cushion system externally.
External External
stopper stopper
- 30 -
Internal construction and component parts
Internal construction of rotary table
*The hexagon socket head cap screw (22) is used only when the connection port is type SE.
- 31 -
Rotary table with auto switch
Rotary table with auto switch has a magnet mounted to the vane shaft, and an auto switch is mounted
on the exterior of the body to detect the rotation position (magnet position).
- 32 -
Auto switch specification
Ambient temperature:
MDSUA 1/ 3 -10 to 60oC
- 33 -
Table positioning pin hole rotation range and auto switch mounting position
MSUA 1・3
Fig.7
MSUA 7・20
Fig.8
In the Fig.7 and Fig.8 that show the rotation range, the arrows on the solid line 90°(180°) indicate the
rotation range of the positioning pin hole on the table surface. When the pin hole is at END1, the END1 auto
switch operates, and when the pin hole is at END2, the END2 auto switch operates.
The arrows on the broken line indicate the rotation range of the internal magnet. The rotation range of each
auto switch can be reduced by moving the END1 auto switch clockwise and the END2 auto switch
counterclockwise.
Table B port Auto switch
Fig.9
- 34 -
How to change the auto switch detecting position
When setting the detection position, loosen the cross recessed round head screw a bit and move the auto
switch to the preferred position and then tighten again and fix it. At this time, if tightened too much, screw
can become damaged and unable to fix position. Proper tightening torque: 0.4 to 0.6[N・m]
When tightening the cross recessed round head screw, take care that the auto switch does not tilt.
Fig.10
- 35 -
O Operating range and hysteresis of auto switch
[Example]
Rotary table: 180o
Switch operating angle: 90o
When the switch is mounted
at the intermediate position
of the rotation
As shown in the figure shown above, when the magnet rotates in the arrow
direction along with the shaft rotation, the switch turns on when the magnet
passes through the point A, and when it passes through the point B, the switch
turns off. In this case, the ON area is 90o, i.e. switch rotation angle is 90o.
[Example]
Rotary table: 180o
Switch operating angle: 90o
When the switch is mounted
at the rotation end
As shown in the left figure above, when the magnet rotates in the arrow
direction, the switch turns on at the position where 45 degrees away from the
the rotation end where the switch is mounted. If the switch is moved by 20
degrees as shown in the right figure above, it will be possible to turn on the
switch at the position where 25 degrees away from the rotation end.
[Example]
Rotary table: 180o
Switch hysteresis angle: 10o
As shown in the figure above, when the magnet rotates in the A direction, the
switch turns on at point a. On the contrary, when the magnet rotates in the B
direction, the switch turns off at point b. At this time, the 10 degrees of
hysteresis between point a and b is the hysteresis angle.
- 36 -
Internal construction and component parts
Internal construction of rotary table with auto switch
MDSUA1/3
- 37 -
MDSUA7/20
- 38 -
MDSUA1/3 auto switch mounting
External view and descriptions of auto switch unit
- 39 -
Maintenance and Inspection
In case a rotary unit and table unit are required for maintenance, order with the unit part numbers shown
below.
Maintenance unit
Table. 14
Table. 15
*None that the rotation angle should not be changed even though the rotary unit has been changed.
For maintenance, order units with a part number suitable for the model being used.
- 40 -
Table. 17 Auto switch block unit
MDSUA1/3 MDSUA7/20
For solid state auto Combination of reed and
For reed auto switch
switch solid state auto switch
Right handed Left handed Combination right and Combination right and left
left handed handed
Part No: P211070-8 Part No: P211070-9 Part No: P211070-13 Part No: P211060-8
* The auto switch block unit is included in the auto switch unit.
* Auto switch block unit showa the necessary assembly for mounting 1 piece of auto switch to the auto
switch unit.
*Individual part cannot be shipped.
【Reassembling】
(1) Tighten a rotary unit and a table unit
with a hexagon socket head cap screw ④.
How to replace rotary unit
【Disassembling】 Connect a lever retainer to chamfered face
【Reassembling】
(1) Fit a lever retainer ② to a shaft chamfered Rotary unit
face, and mount a stopper guide ①.
At that time, make clearance of around 0.5mm
between a stopper guide and a rotary unit.
(2) Tighten a hexagon socket head cap screw ③.
At that time, take care not to tighten a lever
④Hexagon socket
Retainer and shaft chamfering surface unevenly. head cap screw
(3) Tighten table unit and a rotary unit with a hexagon
socket head cap screw ④. Fig.13 How to replace rotary unit
- 41 -
Table. 18
Periodic inspection
Periodic inspection is necessary for optimum use.
Check the above points and if a failure is found, retighten screws, replace parts or repair the product.
- 42 -
Troubleshooting
Adjustment of rotation speed Operate the actuator within the speed adjusting
does not satisfy its range to range to stabilize operation specified in the
stabilize operation. catalog.
Excess load torque Load torque shall be within the specified range.
- 43 -
Problem Possible cause Solution
Trouble with the electrical Check there is no trouble with the electrical
specification specification.
- 44 -
Revision history
A:Change to SI unit
B:Corrected to the latest format
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2019 SMC Corporation All Rights Reserved