Rod-style Actuator TR
Rod-style Actuator
1. Structure of the Rod-style Actuator
End rod
Linear ball bearing
Sensor
Rod-style Actuator
Motor
Coupling
Ball screw
Angular ball bearing
Rotational stop shaft
2. Features of the Rod-style Actuator
• Fitted internally with precision miniature ball screws (manufactured by Nidec Tosok Corp.) * Shaft diameter, Ø4 mm;
lead, 1 mm
• High accuracy, high thrust
• Equipped internally with an origin sensor (ORG) and ± limit sensors (EL+ and EL-)
• Employs a motor manufactured by Nidec Group
• Optimal for an alignment stage
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3. Specifications for the Rod-style Actuator
3.1 Notation for Rod-style Actuator Model Numbers
Model numbers for TOSOK rod-style actuators are expressed using the following items.
TR 04
20
A S 0 R 2
– B 1
Connector
None
Bracket
None
Effective stroke
20
20 mm (±10 mm)
40
40 mm (±20 mm)
60 mm (±30 mm)
60
B1
B2
Shape of axial tip
Standard specifications
A
D
Custom part
(000~999)
Not provided
(without
connector)
Not provided
Horizontal type with
respect to axis
Vertical type with
respect to axis
Sensor
± limit sensors (×2)
R1
End made to M6 male
screw specifications
End made to M5 female
screw specifications
Spherical end
specifications
R2
± limit sensors (×2),
origin sensor (×1)
(If not a standard product, considered a
quasi-standard or special-purpose product)
Motor
S0
2-phase stepping motor
Nidec Servo Corporation
* Please inquire if planning to use a motor
from another manufacturer.
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Rod-style Actuator
C
Rod diameter (screw diameter)
04
4 mm
C
S
Identification
Standard
S
part
Model
Rod-style actuator
B
□□
3. Specifications for the Rod-style Actuator
3.2 TR04 series specifications
Depth,
Rod-style Actuator
Fig. 1
Dimensions (mm)
a
b
c
d
Limit stroke (mm)
Effective stroke (mm)
Resolution (μm/P)*
Single-step
Driver (optional)
Half-step
Nidec Servo Corporation
Quarter-step
Thrust (N (kgf))
Maximum speed (mm/s)
Positioning accuracy (μm)
Repeated positioning accuracy (μm)
Lost motion (μm)
Nominal number
TR0420□S0**-***
TR0440□S0**-***
TR0460□S0**-***
8.2
10
78
169.8
20 (±10)
16 (±8)
5
2.5
1.25
369 (37)
10
10
±1
1
8.2
20
118
219.8
40 (±20)
36 (±18)
5
2.5
1.25
369 (37)
10
20
±1
1
8.2
30
158
269.8
60 (±30)
56 (±28)
5
2.5
1.25
369 (37)
10
30
±1
2
*Resolution will be set to the specifications for the driver recommended by Nidec Tosok Corp.; please contact Nidec Tosok Corp. with
inquiries about other resolution settings.
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3.3 List of specifications for the TR04 Series
Shape of tip
B
C
D
Rod-style Actuator
A
Fig. 2
TR0420 Type
Shape of tip
Dimensions
(Refer to Fig. 1)
a
b
c
d
A
Standard
8.2
10
78
169.8
Nominal number
B
C
M6 male screw
M5 female screw
23
23
10
10
78
78
185
185
D
Spherical
27
10
78
189
A
Standard
8.2
20
118
219.8
Nominal number
B
C
M6 male screw
M5 female screw
23
23
20
20
118
118
235
235
D
Spherical
27
20
118
239
A
Standard
8.2
30
158
269.8
Nominal number
B
C
M6 male screw
M5 female screw
23
23
30
30
158
158
285
285
D
Spherical
27
30
158
289
TR0440 Type
Shape of tip
Dimensions
(Refer to Fig. 1)
a
b
c
d
TR0460 Type
Shape of tip
Dimensions
(Refer to Fig. 1)
a
b
c
d
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3. Specifications for the Rod-style Actuator
3.4 Optional bracket
The following two types of brackets have been made available for attachment to a TR04 Series model.
Horizontal bracket
Model number: B1
hole
countersunk, depth 5.5
Rod-style Actuator
hole
countersunk, depth 5
(Square configuration)
Vertical bracket
Model number: B2
4-Ø3.5 hole Ø6.5 countersunk, depth 5
P. C. D26 (Square configuration)
4-Ø3.5 hole Ø6.5 countersunk, depth 5
(Square configuration)
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4. Terms for Rod-style Actuator Accuracies
4.1 Positioning accuracy [JIS B 6191-1993 compliance]
“Allowable limit values for deviations in the position reached by one point of a moving part after operation from the target
position.”
The “Positioning Accuracy” is defined as the maximum difference, which is calculated by taking the position for positioning
performed sequentially in one direction per standard length (angle) set for each automatic stage model and measuring the
difference between the standard length (angle) that the position should have been moved and the amount that it was actually moved.
Deviation
Standard length, L
Rod-style Actuator
Amount of
distance moved
ΔL
Position reached
Target position
4.2 Repeated positioning accuracy [JIS B 6191-1999 compliance]
Positioning is performed multiple times at a given point (a
standard measurement point) from the same direction, and
the resultant position is measured. Seven different measurements are performed for the measurement point to
find the maximum difference in positioning. The “Repeating
Positioning Accuracy” is defined as a value found by having the procedure performed for three points, one in the
center and one on each of the two sides, and then taking
the maximum value for the values obtained and multiplying
by 1/2 and attaching the ± sign.
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Ma
dif ximu
fer m
enc
e
4. Terms for Rod-style Actuator Accuracies
4.3 Lost motion [JIS B 6333-1999 compliance]
Positioning is performed in the positive direction (in the
CW direction of motor revolution) with respect to a given
position (a standard measurement position), and that resultant position is measured.
After the position is moved in the positive direction, positioning is then performed with a command to move the unit
the same amount in the negative direction (in the CCW
direction of motor revolution), and that resultant position is
measured.
Rod-style Actuator
After the position is moved in the negative direction, positioning is then performed with a command to move the
unit the same amount in the positive direction, and that
resultant position is measured. The positioning measurements are performed seven times in the positive direction
and seven times in the negative direction for obtaining the
difference in average values for the stop position. “Lost
Motion” is defined as the maximum value obtained from
measurements performed on the three points, one point at
the center and one point on each of the two sides.
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5. Precautions for Handling
5.1 When using the actuator horizontally
The life of the actuator will be shortened dramatically if a
load is applied against the axial tip in the direction of the
arrow, as shown in Fig. 3.
W
Fig. 3
5.2 When using the actuator vertically
If the actuator is to be used as shown in Fig. 4, the tip axis
Rod-style Actuator
may move when the power to the driver is turned OFF if a
load of approximately 98 N (10 kgf) is applied.
When using the actuator vertically, provide a braking
mechanism or a locking mechanism in the load part.
For details, please contact Nidec Tosok Corp.
W
Fig. 4
5.3 Other
1Whenever an actuator is to be used, using the actuator in a location in which a lot of dust, oil droplets, water droplets, or
the like is produced may cause it to fail.
2Be sure to periodically wipe away old grease on the tip axis and apply new grease.
3Do not change the position of the sensors as doing so may cause the device to malfunction. Furthermore, please do not
apply excessive force on the sensor cables as doing so may cause the position of the sensors to move or the device to
fail.
4This product is a precision mechanical equipment. Please be sure to refrain from having the product disassembled, assembled, or adjusted by anyone other than a Nidec Tosok Corp. representative as doing so may result in breakdown or
accident.
Note that Nidec Tosok Corp. cannot guarantee the precision of the product once it has been disassembled.
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