PICO ROTARYCTRPICO ROTARYPICO ROTARY Rack & Pinion TypeR

CTR Series

Registration of a Design

INDEX★
Overview ････････････････････････････････････････････752
Explanation, Example of Use, Installation Method ･･･753
Model Code No. ･････････････････････････････････････754
Speciﬁcations, Allowable Titubating Time Range, Bearing Used ･･･755
Spare Parts Code ･･･････････････････････････････････756
Product Mass, Air Consumption･････････････････････757
Structure and Principal Components････････････････758
Replacement of Seals ･･････････････････････････････759
Main Body Instllation････････････････････････････････760
Load Instllation ･････････････････････････････････････761
Titubating Direction and Range ･････････････････････762
Theoretical Displacement against Bending Moment ････････763

CTR

Size Selection ･････････････････････････････････764, 765
Calculation of Inertia Moment ･･･････････････････････766
Note for Usage ･････････････････････････････････････767
Outside Dimensions ･･････････････････････････768〜775
PICO ROTARY

Switch Installation ････････････････････････････776, 777

751

PICO ROTARYRack & Pinion TypeCTR Series（06, 1, 2）

Two rolling bearings at the top and the bottom oﬀeringhigh rigidity.
Signiﬁcant size reduction realized by our original structure.
Rolling Bearing

Rolling Bearing Used
Hollow Hole（CTRV）

Positioning
The reference and pin holes
provided in the table and the bodyensure mounting repeatability.

Table
On the table
integrated with theoutput axis, aworkpiece or a tool
can be directly
mounted.

Angle Adjustment
Angle adjustment of±5°is possible at eachof the oscillation ends.

Mounting in Three Directions
SwitchSwitch position
adjustment and angle
adjustment can be madeon the same plane.

Rack and Pinion

PICO ROTARYCTRThe overlap structure with thecylinder integrated in the rack hassigniﬁcantly reduced thelongitudinal dimension.

752

The compact cubic
body allows mounting
in three directions:
top, bottom and back.

Rolling Bearing
The rolling bearingsat the top and thebottom allow large
moment to beaccommodated.

Countermeasure for Copper Parts
Copper parts are not used.

CTR

PICO ROTARY

Summary of The PICO ROTARY
The rotary actuator of the rack-and-pinion type features the ultimate compactness,lightweight and high rigidity. Our original structure (overlap structure) with the cylinder
integrated in the rack has signiﬁcantly reduced the longitudinal dimension to provide
an easy-to-use cubic body.The table accommodates a large moment by making use of
the rolling bearings at the top and the bottom.

■Application Examples : PICO ROTARY■MAIN BODY INSTALLATION（Bolt as shown in the ﬁgure are notsupplied with products）

Top Mounting（Body tap）

Bottom Mounting（Body tap）

Arm Revolution

Chuck Reversal

Rear Mounting（Body tap）

■MOUNTING

CTR（Bolt as shown in the ﬁgure are notsupplied with products）

Bottom Mounting

Double Arm Movement

Stage Reversal

PICO ROTARY（Body tap）

753

Model Code Example

CTRVS-SD06-TQ-RB12LA

Series Name●●Cable Length

Code

SeriesNo Code1m

CTR

Standard Type

LA

3m

CTRV Hollow Type

●Number of Switches

Magnet●Size●

No Code

None

06

Ｓ

With Magnet

1

Port Position●
Basic

TQ

Rocking Angle●●Switch90ﾟ

No CodePort

GT

Symmetric

1

2

2

2

A magnet is required
when mounting switches.

SD

1

TH

180ﾟ

None

RB1

Straight

RC1

Angle

RB2

Straight

RC2

Angle

RB4

Straight

RC4

Angle

RB5

Straight

RC5

Angle

DC12〜24V

With
Indicator
Light
2 Wires
Reed Switch Without
Indicator
Light

DC12〜24V

2 Wires Solid
State Switch

DC5〜24V

Direction of Cable Outlet
RB････Straight Outlet Cable

For details

Port

PICO ROTARY

CTR
754

With
IndicatorLight
3 Wires Solid
State Switch

RC････Angle Outlet Cable

Page 1066, 1067

CTR

PICO ROTARYSPECIFICATIONS
Size

06

1

Drive System

2

Rack ＆ Pinion

Titubating Angle

90ﾟ

180ﾟ

Type of Operation

90ﾟ

180ﾟ

90ﾟ

180ﾟ

Double Acting

Fluid

Air

Maximum Operating Pressure

0.70ＭＰａ

Minimum Operating Pressure

0.15ＭＰａ

Proof Pressure

1.05ＭＰａ

Operating Temperature

5〜60℃

Allowable Thrust Load

20N

20N

30N

Allowable Moment

0.7Ｎ・ｍ0.7Ｎ・ｍ

1.6Ｎ・ｍAllowable Energy

4mJ

8mJ

17mJ

Cushioning

None

Angle Adjustment±5°at Each Titubating End

Bore Size

φ8ｍｍ

φ10ｍｍ

Pipe Bore

M5×0.8Lubrication

Not required

φ12ｍｍ

Allowable Titubating Time Range
Titubating Angle Allowable Titubating Time Range90ﾟ

0.07〜0.3ｓ

180ﾟ

0.1〜0.45ｓ

Bearing Used (Rolling Bearing)
Model

Rolling Bearing Model No.

CTR06

697ZZ

CTR1

688ZZ

CTR2

6900ZZ

Hollow Part Speciﬁcation
Size

06

1

2

Hollow Diameter
Hollow Part
Table Side
Connection
Shaft Side
Pipe Size

φ1.4㎜

φ2.2㎜

φ2.5㎜

M3×0.5M5×0.8PICO ROTARY

CTR
755

OPTIONAL PARTS CODES
Name

Switch Fixture

Reed Switch（2 Wires, with Indicator Light）

Reed Switch（2 Wires, without Indicator Light）

Straight Outlet Cable Angle Outlet Cable

Straight Outlet Cable Angle Outlet Cable

PARTS CODE

BF（CTR）

RB1（CTR）

RC1（CTR）

RB2（CTR）

RC2（CTR）

Note

Screw, Nut

Cable Length:1mCable Length:1mCable Length:1mCable Length:1m

PARTS CODE

RB1LA（CTR）

RC1LA（CTR）

RB2LA（CTR）

RC2LA（CTR）

Note

Cable Length:3mCable Length:3mCable Length:3mCable Length:3mwith ﬁxture

with ﬁxture

Content

with ﬁxture

Stopper Catcher
SK（CTR）

Fill in □ as bore size.
Before mounting, apply
anaerodic adhesive tothe screws.

with ﬁxture

Solid State Switch（2 Wires, with Indicator Light）

Solid State Switch（3 Wires, with Indicator Light）

Straight Outlet Cable Angle Outlet Cable

Straight Outlet Cable Angle Outlet Cable

RB4（CTR）

RC4（CTR）

RB5（CTR）

RC5（CTR）

Cable Length:1mCable Length:1mCable Length:1mCable Length:1m

RB4LA（CTR）

RC4LA（CTR）

RB5LA（ＣＴＲ）

RC5LA（CTR）

Cable Length:3mCable Length:3mCable Length:3mCable Length:3mwith ﬁxture

with ﬁxture

with ﬁxture

with ﬁxture

Repair Parts Set
HP（CTR）

Fill in □ as bore
size.

For details
Page 758with Fixing Screw

Adjuster Bolt

CTR

Model

CTR06
CTR1

PICO ROTARY

CTR2

756

with Lock Nut

PARTS CODE

AJ（M5−16）
AJ（M6−22）

Lock Nut for Adjustment Bolt
Model

PARTS CODE

M5（M5×0.8）

NTA（M5）

M6（M6×1）

NTA（M6）CTR

PICO ROTARYPRODUCT MASS●MASS OF CTR
Model●MASS OF SWITCH

UNIT：ｇ

UNIT：ｇSwitch Type

Titubating Angle

Mass

TQ

TH

RB1, RB2, RB4, RB5

CTR06

130

125

RC1, RC2, RC4, RC5

CTR1

170

160

RB1LA, RB2LA, RB4LA, RB5LA

CTR2

255

245

RC1LA, RC2LA, RC4LA, RC5LA

15
35

Note: The same mass for SD and GT.

METHOD TO CALCULATE THE MASS
Ex. CTRS−SD06−TQ−RB42LA
Basic Mass……………………………… 130ｇ
Switch…………………………… 35×2＝70ｇ
130＋35×2＝200ｇ

Model
CTR06
CTR1
CTR2

-3

Unit：×10 ℓ（ANR）

Operating Pressure MPa

Titubating Sum of Internal Volumes
Angle
（cm3）
0.15

0.2

0.3

0.4

0.5

0.6

0.7

100°

0.90

2.2

2.7

3.6

4.5

5.4

6.3

7.2

190°

1.13

2.8

3.4

4.5

5.7

6.8

7.9

9.1

100°

1.58

3.9

4.7

6.3

7.9

9.5

11.1

12.6

190°

2.01

5.0

6.0

8.0

10.1

12.1

14.1

16.1

100°

2.91

7.3

8.7

11.6

14.5

17.5

20.3

23.3

190°

3.71

9.3

11.1

14.8

18.5

22.2

26.0

29.7

Calculation Formula

(

Ｑ＝Vx

P+0.1
×10-3
0.1

)

Ｑ：Air Consumption［ℓ（ANR）］
Consumption as converted
into Standard Condition
Ｖ：Sum of Internal Volumes［cm3］Ｐ：Operating Pressure［MPa］

CTR
PICO ROTARYAir Consumption (per Reciprocating Motion)

757

STRUCTURE AND PRINCIPAL COMPONENTSCTR Sereis
⑪

⑤

④

⑨

⑧

⑦

PRINCIPAL COMPONENTS

⑬

③

②

⑥

①

⑩

⑫

No.

Name

Material

RemarksNo.

NameMaterial

1

Body

Aluminum AlloyWhite Alumite

7

Plug

Synthetic Resin

2

Table

Stainless Steel

8

Adjust Bolt

Steel (Heat Treatment)

Nickel Plating

3

PistonAluminum Alloy

9

Lock Nut

Steel

Nickel Plating

4

Rack

Stainless Steel

10

Rolling Bearing

Bearing Steel5

Stopper Catcher

Steel (Heat Treatment)

6

Flange Nut

Stainless SteelWhite Alumite
Electroless Nickel Plating

Remarks

11

Bolt

Steel

Nickel Plating

12

MagnetMagnetic Material

Only with Magnet⑭⑯

REPAIR PARTS（With special Greese）
No.

Name

Material

Qty

13

Piston Seal

NBR

2Remarks

CTRV Series
PRINCIPAL COMPONENTS
NameMaterial

14

Hollow Table

Stainless Steel

15

Hollow Cover

Aluminum Alloy

16

Hollow Flange Nut

Stainless Steel

No.

17

O-ringNBR

18Snap Ring

Steel (Heat Treatment)⑮

Remarks
White Alumite

Nickel Plating

CTR

REPAIR PARTS（With special Greese）
No.

Name

Material

Qty

13

Piston Seal

NBR

2Remarks

PICO ROTARY

⑰ ⑱

758

CTR

PICO ROTARYREPLACEMENT OF SEALS
CautionFollow the procedure below to replace the seals using the repair parts set (piston seal and special grease) separately oﬀered.
Use of any other piston seal or grease may hinder satisfaction of the product speciﬁcation.
No.

Step

Note

1

Use the snap ring pliers (withcurved tips) to loosen a piston.

Make sure that no compressed air is supplied tothe actuator and there is no residual pressure.

2

Pull out the piston and remove
the piston seal.

Ensure that the housing is not
scratched.

3

Clean the outer circumferential surface ofthe piston and the inner circumferential
surfaces of the rack and the body.
Apply grease of the entire area of the inner
circumferential surfaces of the rack andthe body, piston housing and piston seal.

Wipe oﬀ deteriorated grease anddrain water thoroughly.

5

Mount a new piston seal on
the piston.

Check the mounting orientation andensure that there is no twisting.

6

Insert the piston into the rack that has been
moved toward you by revolving the table.

Ensure that no foreign matter is attachedor the piston seal is scratched.

7

Use the snap ring pliers (withcurved tips) to tighten the piston.

Make sure that it is securely tightened.
(Tightening Torque: 1 N·m)

8

Lower the supply pressure to
start low-speed operation.

Make sure that the actuator moves
smoothly and there is no air leakage.

4

Make sure that the special grease isadequately applied.

MOUNTING OF JOINT
CautionWhen mounting a joint, etc. on the female
thread in the table hollow part, either directly
hold the table or move the table between theoscillation ends to press it against the
stopper bolt of the body.
Mounting while holding the hollow cover or
ﬂange nut may cause actuator failure ordamage.
Ensure that the tightening torque for thejoint, etc. does not exceed the value
recommended by the manufacturer.

PICO ROTARY■Mounting of Joint on Hollow Table

When mounting a rotary joint, etc. on thehollow cover, always set a spanner on theacross ﬂats of the hollow cover to preventthe torque from being applied to the ﬂange
nut.
Otherwise, actuator failure or damage may
result.

CTR■Mounting of Joint on Hollow Cover

759

BODY INSTALLATIONBODY POSITIONING

Top Mounting(Thru Hole used)

Bottom Positioning（Reference Hole, Pin Hole）

L

φＤ2 depth L2

φＤ1 depth L1
Thru Hole Length Fastening Torque
L(mm)
（N･m）

Reference Hole Reference Hole Pin Hole Pin Hole
Diameter Ｄ1
Depth L1
Width D2 Depth L2
（mm）
（mm）
（mm） （mm）

Model

Bolt Size

CTRO6

Ｍ3

22

1.1

CTR06

18H9
（ 0

2

3 ＋0.012＋0.060

3

CTR1

Ｍ3

24

1.1

CTR1

18H9
（ 0

2

3 ＋0.012＋0.060

3

CTR2

Ｍ4

27

2.5

CTR2

2

4 ＋0.012＋0.060

4

Model

）
）
22H9
（＋0.052）0＋0.043＋0.043

CautionBottom Mounting(Body Tap)

■Design of Boss for Reference Hole
When using the reference hole in the bottom side as mentioned
above for positioning, the boss to set in the reference hole musthave the dimensions and shape as shown below. If the boss is tohigh or the clearance hole is too small, the boss may come incontact with the rolling bearing or ﬂange nut, causing actuator
failure or damage.
φＤ

L

L3

H

3

Model

Bolt Size

CTR06

M4×0.7

6

2.5

CTR06

1.8 or less

Clearance Hole Clearance Hole
Depth L3
Diameter Ｄ3
（mm）
（mm）
14 or more Boss Height H or more

CTR1

M4×0.7

6

2.5

CTR1

1.8 or less14 or more

Boss Height H or more

CTR2

M5×0.8

8

5.1

CTR2

1.8 or less16 or more

Boss Height H or more

Screw Depth Fastening Torque
（N･m）
L(mm)

Model

Rear Mounting(Body Tap)

Boss Height Ｈ（mm）

Rear Positioning（ Pin Hole）
φＤ2 depth L2L

CTR

φＤ2 depth L2

PICO ROTARY

Model

760

Bolt Size

Screw Depth Fastening Torque
（N･m）
L(mm)

Model

Pin Hole Diameter, Width Ｄ2（mm）

Pin Hole Depth Ｌ2（mm）＋0.060＋0.0123

CTR06

M4×0.7

5

2.5

CTR06

3

CTR1

M4×0.7

5

2.5

CTR1

3 ＋0.012＋0.0603

CTR2

M5×0.8

6

5.1

CTR2

4 ＋0.012＋0.0604

CTR

PICO ROTARYMOUNTING ON TABLE

LOAD POSITIONING
Top Positioning（Reference Hole, Pin Hole）

L

Top Mounting(Body Tap)

φＤ1 depth L1
Bolt Size

Screw Depth Fastening Torque
（N･m）
L(mm)

Model

Reference Hole Reference Hole Pin Hole Pin Hole
Diameter Ｄ1
Depth L1
Width D2 Depth L2
（mm）
（mm）
（mm） （mm）

CTRO6

Ｍ3×0.5

4

1.1

CTR06

10H9
（ 0

4

3 ＋0.012＋0.0603

CTR1

Ｍ3×0.5

4

1.1

CTR1

12H9
（ 0

）
）
12H9
（＋0.043）04

3 ＋0.012＋0.0603

CTR2

Ｍ4×0.7

5

2.5

CTR2

4

4 ＋0.012＋0.0604＋0.036＋0.043

CTR
PICO ROTARYModel

φＤ2 depth L2

761

TITUBATING DIRECTION AND RANGE
Table rotates clockwise when pressure is applied
through port A and counterclockwise when pressure
is applied through port B.
The ﬁgure shows how it stops at the

The oscillation ends can be set in the range shown
below by using the adjustment bolt. The adjustable
range is η = ±5°.
The ﬁgure shows the oscillation range of the pin hole.

counterclockwise end.

Port BCounterclockwiseηCounterclockwise

Port Aﾟ

0

9Port Aη

Adjust Bolt
Pin Hole

Port B

90°Speciﬁcations
Clockwise

Clockwise

SD Type

GT TypeCautionAvoid adjusting the position beyond the adjustable
range or removing the adjustment bolt.
Otherwise, actuator failure or damage may result.
The table on the left shows the adjustment angle per
rotation of the adjustment bolt.

PICO ROTARY

CTR
762

Model

Adjustment Angle per Rotationof Adjustment Bolt

CTR06

3.6ﾟ

CTR1

3.3ﾟ

CTR2

3.8ﾟ

180ﾟ

η

η

Adjust Bolt
Pin Hole

180°Speciﬁcations

CTR

PICO ROTARYTHEORETICAL DISPLACEMENT OF TABLE BY BENDING MOMENT

0.04°

CTR06

0.03°

CTR1

0.02°

CTR2

0.01°

0

0.5

1.0

1.5

Bending Moment （Ｎ・ｍ）

CTR
PICO ROTARY

Load

Deﬂection Angle [deg]

Deﬂe

ction

Angle

If an external force is applied to the table, the table inclines slightly because of elastic deformation ofballs and races.
Refer to the following graph of theoretical angular displacement of the guide table for each moment
shown below.

763

SIZE SELECTION
Make sure that the torque, oscillation time, kinetic energy, load and moment arein the allowable value ranges.

■Types of Load
Load can be classiﬁed into the following three types by the actuator mounting position, shape of the mounted
load and usage. The inertial moment calculation formula depends on the shape of the mounted load. See
Calculation of Inertial Moment on p. 766. Inertial load is in inverse proportion to the square of the rocking timeand setting of the rocking time for calculation requires special attention.
Types of Load

Static Load：Ts

Resistance Load：Tr

Inertial load：Ta

Contents

Load generated by staticpressing such as clamping.

Load generated by external force accompanying movementof an object such as the friction force in workpiece
movement and gravity in oscillation on the vertical plane.

Load generated due to theinertial force accompanying
oscillation of an object.

Calculating
Formula

（Ｎ・ｍ）
Ｔｓ＝Ｆ
・
ℓ

（Ｎ・ｍ）
Ｔｒ＝Ｆ
・
ℓ

Ｔａ＝Ⅰ

（例）
Ｆ＝μ・ｍ・
ｇ

2θ
（Ｎ・ｍ）
ｔ2

Exampleof useℓＦ：Required Pressing Force（Ｎ）

μ：Friction Coeﬃcient

Ⅰ：Inertial Moment（kg・m2）ℓ：Length from Center of Rotation to

ｍ：Mass（kg）

θ：Rocking Angle（rad）ℓ

F

Movement

Point of Application（ｍ）

2：Rocking Time（s）
ｇ：Gravitational Acceleration（ｍ/s ） ｔ

Allowable Rocking Timepage 765■Torque
CautionSelect the actuator so that the torque calculated according to the type of load does not exceed the eﬀective torque.
The eﬀective torque is a rough estimate of the output based on the theoretical output torque with the friction
resistance taken into account.
When an article is statically pressed, oscillation of the mounted load such as a clamp arm generates inertial load.
Resistance load may also be generated depending on the mounting position, which requires separate consideration.
For static load, allow for a margin for selection and reduce the regulator pressure for use as required.
Operating conditions exceeding the allowable values may cause actuator failure or damage including accuracy
deterioration, malfunction and shorter service life.

Ｔｅ ≧ ＴｓＴｅ：Eﬀective Torque（Ｎ・ｍ）

Object moved

Ｔｅ ≧ 5・Ｔｒ＋10・
Ｔａ

Ｔｓ：Torque required for Static Load（Ｎ・ｍ）

Object oscillated

Ｔｅ ≧ 10・
Ｔａ

Ｔａ：Torque required for Inertial Load（Ｎ・ｍ）

PICO ROTARY

Eﬀective Torque
Model

Ｔｒ
：Torque required for Resistance Load（Ｎ・ｍ）

Unit：Ｎ・ｍ

Operating Pressure （MPa）
0.15

0.2

0.3

0.4

0.5

0.6

0.7

CTR06 0.015

0.022 0.035 0.047 0.060 0.073 0.086

CTR1

0.028

0.040 0.063 0.086 0.11

0.13

0.16

CTR2

0.052

0.074 0.12

0.25

0.29

0.16

0.20

Eﬀective Torque（N・m）

CTR

Object statically pressed

0.3

CTR2
0.2

CTR1

0.1

ＣＴＲ06
0

0.1

0.3

0.5

0.7

Operating Pressure （ＭＰａ）

764

CTR

PICO ROTARY■Allowable Titubating Time
Titubating Angle Allowable Titubating Time Range90ﾟ

0.07〜0.3ｓ

180ﾟ

0.1〜0.45ｓ

Make sure that the titubating time is within the allowable titubating time
range. Use in a low-speed region out of the allowable titubating time
range may cause a stick-slip phenomenon or stop.

■Allowable Kinetic Energy
Warning
Model

Allowable Kinetic Energy

CTR06

4ｍＪ

CTR1

8ｍＪ

CTR2

17ｍＪ

Make sure that the kinetic energy calculated by using the formula below is smaller
than the allowable kinetic energy. The formula for calculating inertial moment depends
on the shape of the mounted load. See Calculation of Inertial Moment on p. 766.
The angular speed calculated is the terminal angular speed for uniformly accelerated
motion. In cases such as downward movement of the mounted load, the angular speed
increases due to the gravitational acceleration and more kinetic energy than expected
is generated.
When it is expected to exceed the allowable value, provide a shock absorber externallyto mitigate the impact. If the operating conditions exceed the allowable values, theactuator may be damaged, causing damage to human body and/or device/equipment.

２θ
ω＝
ｔ

1
Ｅ＝ Ⅰω2×103
2Ｅ：Kinetic Energy（ｍＪ）
ω：Angular Speed（rad/s）θ：Titubating Angle（rad）ｔ：Titubating Time（s）■Allowable Load, Allowable Moment
Caution
Do not allow any load or moment exceeding the allowable value to be applied to the table.
Operating conditions exceeding the allowable values may cause actuator failure or damage
including accuracy deterioration, malfunction and shorter service life.

Thrust Load Fs

Oﬀset Load Fo

A

LrRadial Load Fr

Lo

Allowable Moment
（N・m）

CTR06

0.7

Distance A from Table End Face to Bearing
（mm）
29.5

CTR1

20

0.7

31.5

CTR2

30

1.6

36.0

PICO ROTARY

Moment：Ｍ＝Ｆｏ×Ｌｏ

Allowable Thrust Load
（N）
20

Model

CTR

Moment：Ｍ＝Fr×（Lr＋Ａ）

765

CALCULATION OF INERTIA MOMENT
Ⅰ：Moment of Inertia
No.

Shape

Inertia moment Rotational Radius No.

Ｗ：Mass
Shape

2

W

1

Ⅰ＝Ｗ・
12

K2＝

2

7

12

Thin bard2
1

Ⅰ＝Ｗ1･ ＋Ｗ2･
3
3

W2

2
2

2
1

2
2

K2＝ ＋
3 3

8

d1

W1

/2

/2

Ⅰ＝Ｗ

W

（

d2
12 16
2

＋

）

d 12 d 22
K2＝ ＋
8 8

Ⅰ＝Ｗ・

d2
10

K2＝

d2
10

a2
Ⅰ＝Ｗ・
12

a
W

Ⅰ＝Ｗ・

d2
16

K2＝

d2
16

Thin disk

K2＝

a2
12

10

b

W

Ⅰ＝Ｗ・

W

W2

a2＋b2
a2＋b2
11
K2＝
12
12

2
1

W1

Rectangle board (cubic-rectangle)

a2

a1

d

Concentrated load at the top of a bar

a

b

K2＝

4a12＋b2
12＋

4a22＋b2
12

W2
W1

Ⅰ＝Ｗ1・

CTR
PICO ROTARY

d2
8

d

Rectangle board (cubic-rectangle)

766

K2＝

W2

W

2
d2
9
K2＝ ＋
12 16

Thin rectangle board (cubic-rectangle)

6

d 22
d 12
Ⅰ＝Ｗ1･ ＋Ｗ2･
8
8
d2

d

5

d2
8

SphereThick bar

3

Ⅰ＝Ｗ・

W

Combination of pillar
W1

2

4

Inertia moment Rotational Radius

Pillar (including a thin disk)Thin bar

4a12＋b2
4a2＋b2＋Ｗ2・ 212
12

Ⅰ＝Ｗ1･ ＋Ｗ2･K2＋Ｗ2･ 22
3

Calculation
using theshape of Ｗ2

CTR

PICO ROTARYPRECAUTIONS FOR DESIGN AND USE

If the resistance friction changes or the size of theload varies due to gravity applied to an object
rocking on the vertical surface, the rocking speed
may increase more than expected, causing damage
to human body and/or device/equipment.
In this case, provide a shock absorber externally to
mitigate the impact.

Impact Absorption
Kinetic energy may exceed the allowable value
depending on the shape, mass or rocking speed of
the oscillating object. If kinetic energy exceeding
the allowable value is applied to the actuator,
the actuator may be damaged, causing damage tohuman body and/or device/equipment.
In this case, provide a shock absorber externally to
mitigate the impact.

Load Torque
Ensure that no torque exceeding the allowablevalue is applied to the actuator.
Otherwise, actuator failure or damage may result.

External Stopper
Mount the external stopper away from the axis ofoscillation.
If it is close the axis of oscillation, the inertial force
around the external stopper as the fulcrum
increases, which may cause damage to humanbody and/or device/equipment.

CautionStopping Accuracy at Oscillation Ends
When high stopping accuracy at oscillation ends isrequired, directly stop the mounted load externally.
The position adjustment mechanism of this productmay not be capable of maintaining the stop position
initially set.

ImpactWhen mounting or removing the actuator or load,
ensure that large impact is not applied by hitting witha hammer, etc.
Otherwise, actuator failure or damage may result.

Flange Nut
Avoid turning the ﬂange nut on the bottom side of
the body.
Otherwise, actuator failure or damage may result.

OilingOiling may render the product incapable of meetingthe speciﬁcation. Be sure to use without oiling.

Greasing
Special grease is applied when the product is assembled.
For greasing the sliding part, wipe oﬀ any deteriorated
grease and apply the special grease included in the repair
parts set separately oﬀered.
Use of other grease may cause actuator failure ordamage due to lubrication performance degradation or
chemical change.

CTR
PICO ROTARY

Warning
Load Variation

767

DIMENSIONS(mm)CTR（Ｓ）−SD06−

BASIC

TQ
TH

Size

Titubating Angle
TQ：90°
TH：180°＋0.0603 ＋0.012 depth3

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

＋0.060

φ3 ＋0.012 depth3

182−φ3.2thru
φ6depth counterbore
depth436

4−M3×0.5depth4

28

1

4

（＊１）
6
9.5

8

36

18

φ1
7

＋0.060

φ3 ＋0.012 depth3

φ22＋0.036
0

）

2.5

7

2−M5×0.8（Adjust Bolt）

M5（PortB）

φ10

（＊2）
＋0.043
φ18H9（ 0）25

M5（PortA）

26

14

7.5 13

34

33

29

7.5
2

1.5

18

＋0.0603 ＋0.012 depth3

PICO ROTARY

1
13.5
18

1.8 or less

CTR

φ14 or more

Shall be deeper thanmounting surface.

CTR（S）−SD06−TQ（TH）

4

φ10H9（40

4−M4×0.7depth5

23

18

17.5

1

Port Position
SD：Basic

CTR06

Design of Boss for Reference Hole28

2−M4×0.7depth6●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

768

CTR

PICO ROTARYDIMENSIONS(mm)CTR（Ｓ）−GT06−Size

SYMMETRIC

TQ
TH
Titubating Angle
TQ：90°
TH：180°＋0.0603＋0.012 depth3

4−M4×0.7depth5

23

18

17.5

1

Port Position
GT：Symmetric

CTR06＋0.060

φ3 ＋0.012 depth3

18

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

36

4−M3×0.5depth4

282−φ3.2thru
φ6depth counterbore
depth4

40

36

1

4

（＊1）
6
9.5

8

18

φ1
7

＋0.060

φ3 ＋0.012 depth3

25

4

7.5

）

2

＋0.0360

1.5

φ10H9（

34

33

13
18

φ22

2−M5×0.8（Adjust Bolt）

29

7

（＊2）
＋0.043
φ18H9（ 0）φ101.8 or less1
13.5
2−M4×0.7depth6

28

Design of Boss for Reference Hole●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

PICO ROTARY

18

φ14 or more

CTR

Shall be deeper thanmounting surface.

＋0.0603 ＋0.012 depth3

CTR（S）−GT06−TQ（TH）

M5（PortA）

2.5

7.5

14

26

M5（PortB）

769

DIMENSIONS(mm)CTR（Ｓ）−SD1−

Port Position
SD：Basic

CTR1

BASIC

TQ
TH

Size

Titubating Angle
TQ：90°
TH：180°＋0.0604−M4×0.7depth5＋0.060

φ3 ＋0.012 depth3

20

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

40

4−M3×0.5depth4

322−φ3.2thru
φ6depth counterbore
depth444.5＋0.060

φ3 ＋0.012 depth3

φ26
）

2.5

7

2−M5×0.8（Adjust Bolt）

M5（PortB）

28

M5（PortA）

28
15

8.5 13

36

35

31

7.5
2

1.5

（＊2）
＋0.043
φ18H9（ 0）21＋0.06015.5
20

φ14 or more

1

3 ＋0.012 depth3

1.8 or less

CTR
PICO ROTARY

φ10

Shall be deeper thanmounting surface.

CTR（S）−SD1−TQ（TH）

4＋0.043
0

40

1

4

（＊1）
6.2
9.5

9.5

20

φ2
0

φ12H9（

25

20

19.5

1

3＋0.012 depth3

Design of Boss for Reference Hole32

2−M4×0.7depth6●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

770

CTR

PICO ROTARYDIMENSIONS(mm)CTR（Ｓ）−GT1−Size

SYMMETRIC

TQ
TH
Titubating Angle
TQ：90°
TH：180°＋0.0603＋0.012 depth3

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

＋0.060

φ3 ＋0.012 depth3

202−φ3.2thru
φ6depth counterbore
depth440＋0.060

φ3 ＋0.012 depth32

φ102−M4×0.7depth6

32

Design of Boss for Reference Hole●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

PICO ROTARY

φ14 or more

CTR（S）−GT1−TQ（TH）

4

7.5

1.5

36
（＊2）
＋0.043
φ18H9（ 0）1.8 or less

1

）

20

15.5

＋0.0430

CTR

φ3 ＋0.012 depth3

φ12H9（Shall be deeper thanmounting surface.

28＋0.060φ26

2−M5×0.8（Adjust Bolt）

31

13
21

8.5

15

28

7

35

2.5

M5（PortB）

M5（PortA）

1

4

（＊1）
6.2
9.5

9.5

20

φ2
0

40

4−M3×0.5depth4

32

44.5

4−M4×0.7depth5

25

19.5

20

1

Port Position
GT：Symmetric

CTR1

771

DIMENSIONS(mm)

CTR2

BASIC

ＴＱ
ＣＴＲ
（Ｓ）
−ＳＤ2−
ＴＨ
Size

Titubating Angle
TQ：90°
TH：180°＋0.0604 ＋0.012 depth4

28

22

21.5

1

Port Position
SD：Basic

4−Ｍ5×0.8depth6＋0.060φ4＋0.012 depth4

22

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

2−φ4.2thru
φ8depth counterbore
depth546

4−Ｍ4×0.7depth5

36

φ28

50.5

1

5

（＊１）
9.3 12

9.5

46

23

φ2
0

＋0.0604 ＋0.012 depth4

382−Ｍ6×1（Adjust Bolt）

Ｍ5（PortＢ）（＊2）＋0.052
φ24Ｈ9
（ 0
）

30

17

32

10.5 1341

Ｍ5（PortＡ）

25＋0.0604 ＋0.012 depth4

1
17.5
23

φ19 or more

1.8 or less

CTR
PICO ROTARY

40

35.5

8.5
2

1.5

φ13

Shall be deeper thanmounting surface.

CTR（S）−SD2−TQ（TH）

4

φ12H9（ +0.043）
0Design of Boss for Reference Hole36

2−Ｍ5×0.8depth8●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

772

CTR

PICO ROTARYDIMENSIONS(mm)CTR（Ｓ）−GT2−

SYMMETRIC

TQ
TH

Size

Titubating Angle
TQ：90°
TH：180°＋0.0604＋0.012 depth4

4−M5×0.8depth6＋0.060

φ4 ＋0.012 depth4

22

The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

46

4−M4×0.7depth5362−φ4.2thru
φ8depth counterbore
depth5（＊2）＋0.052
φ24H9（ 0）φ131.8 or less

1
17.5
23

φ19 or more

Design of Boss for Reference Hole2−M5×0.8depth8

CTR

Shall be deeper thanmounting surface.

＋0.0604＋0.012 depth4

CTR（S）−GT2−TQ（TH）

4

8.5
2

）

1.5

＋0.043036●＊1 indicates the projection length of the adjustment bolt as it is adjusted to the maximum oscillation angle (100°for the 90°type,
190°for the 180°type) within the adjustable range.
●When using the reference hole ＊2 for positioning, the boss to set in the reference hole must have the dimensions and shape in
Design of Boss for Reference Hole.

PICO ROTARY30

φ12H9（

41

13
10.5

φ28

2−M6×1（Adjust Bolt）

40

8

35.5

3

17

32

50.5

＋0.0604＋0.012 depth4

M5（PortB）

25

46

1

5

（＊１）
9.3 12

9.5

23

φ2
0

M5（PortA）

28

22

21.5

1

Port Position
GT：Symmetric

CTR2

773

DIMENSIONS(mm)

CTRV

BASIC

CTRV（Ｓ）−SD06−TQ

Port Position
SD：Basic

Size
06
1
2

Titubating Angle
TQ：90°
TH：180°The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

Ｍ3×0.5depth3

CTRV（S）−SD

Ｍ5×0.8depth3（Rotary Joint Connection）

11

5

6

B

Ａ
（Hollow Axis）

φ9

8(Two ﬂats)

φ16

PICO ROTARY

CTR
774

Dimensions

Unit：ｍｍ

Model

Ａ

Ｂ

CTRV06

φ1.4

45

CTRV1

φ2.2

47

CTRV2

φ2.5

52

Same as CTR for dimensions other thanthose shown on the left.

CTR

PICO ROTARYDIMENSIONS(mm)CTRV

SYMMETRICCTRV（Ｓ）−GT06−TQ
Port Position
GT：Symmetric

Size
06
1
2

Titubating Angle
TQ：90°
TH：180°The ﬁgure shows the 90°type.
The 180°type does not havethis stopper catch.

Ｍ3×0.5depth3

φ16Ｍ5×0.8depth3（Rotary Joint Connection）

CTRV（S）−GT

φ98(Two ﬂats)

11

5

6

B

Ａ
（Hollow Axis）

PICO ROTARY

CTRDimensions

Unit：ｍｍ

Model

Ａ

Ｂ

CTRV06

φ1.4

45

CTRV1

φ2.2

47

CTRV2

φ2.5

52

Same as CTR for dimensions other thanthose shown on the left.

775

SWITCH SETTING POSITION■Setting Position
D

C

B

A

RB（RC）1, 2 Switch

Unit：ｍｍMounting Position at Counterclockwise End Mounting Position at Clockwise End
Model Titubating
Angle
C
D
A
B
CTR06

90°
180°
90°

CTR1

180°
90°

CTR2

180°

0
1
3

12
15
19

10

1

14

ー

12

4

18

ー

15

6

23

0

RB（RC）4, 5 Switch

CTR06
CTR1
CTR2

90°
180°
90°
180°
90°
180°

3
5
6

Depending on the position of the oscillation end, the switch cannot be mounted
in the mounting position A/D (may turn on before reaching the oscillation end).

■Operation and Hysteresis Angles
Model

RB（RC）1.2 Switch

RB（RC）4.5 Switch

Operation Angle α Hysteresis Angle α Operation Angle α Hysteresis Angle α

CTR06

115°

10°

75ﾟ

10ﾟ

CTR1

100°

10°

60ﾟ

10ﾟ

CTR2

85°

10°

45ﾟ

Explanation of hysteresis and on hold distance.

10ﾟ
page 1084

Hysteresis Angle βRefers to the tableoscillation angle between
the point where the switch
turns on by movement of
the magnet and the point
where it turns oﬀ by
movement in the opposite
direction.

PICO ROTARYCTROperation Angle αRefers to the tableoscillation angle between
the point where theswitch turns on by
movement of the magnet
and the point where it
turns oﬀ by further
movement in the same
direction.

776

Unit：ｍｍMounting Position at Counterclockwise End Mounting Position at Clockwise End
Model Titubating
Angle
C
D
A
B
13
15
20

11

6

15

0

13

7

19

2

16

11

23

3

CTR

PICO ROTARY■Installataion of Switch

Nut

Fixing Screw M2.5×4.5

SwitchCTR
PICO ROTARYAssemble the ﬁxing screw with a nut to the switch.
Insert the switch into the groove.
After setting the position, fasten the screw bya screwdriver.
Fastening torgue of ﬁxing screw must be 0.1 N・m.

777

■M E M O ■778

■M E M O ■779

■M E M O ■780