l

216 Rotary Actuators

Heavy duty, torque generating devices designed for precise servo-control applications

be certain.
 T H E 216 RO TA RY A C TU ATO RS ARE HE AVY-DUT Y T ORQUE GE NE RAT ION

D E V I C ES TH AT O PERATE UN DE R P RE CISION SE RVOVALVE CONT ROL.

W H E N MATCHED WI TH M TS S E RVOVALVE S, T RANSDUCE RS, AND

C LO S E D -LO O P CO N TRO L ELEC T RONICS, T HE Y ARE IDE ALLY SUIT E D FOR

T E S T I N G M ATERI ALS, STRUCT URE S, AND COMP ONE NT S.

2
Description

The double-vane rotor design accommodates full force application through 100° of
rotation. Matched reaction brackets, diaphragm flexures, and reaction bases allow
you to create versatile test configurations that you can easily reconfigure. Available
instrumentation options include angular displacement transducers (ADT), torque
cells, and differential pressure cells (∆P).

Features

» Actuators are available in force ratings from 200,000 to » Servovalve ports are compatible with standard MTS
730,000 lbf-in. (22 597 to 82 479 N-m) servovalve manifolds

» Heavy-duty bearings accommodate significant radial and » Balanced double vane rotor design reduces friction and
axial loads provides continuous torque output through 100° of rotation

» Precision chamber and rotor design ensures zero actuator » Separate actuator mounting and fixture attachment equipment
backlash during torque reversals accommodate diverse test articles and configurations

» Available with a complete line of fixturing and angular » Diaphragm flexures are available to reduce excessive thrust
displacement transducer options and side loads exerted on the test specimen

Components
» Chamber Seals – Cap seals between the actuator
cylinder and end caps prevent hydraulic fluid from
flowing around the rotor vane seals.
Drainbck
» Radial Bearing – Precision bearing designed to Port
tolerate the high radial and axial forces that can be
encountered during testing. Drainbck
Port
» Front End Cap – Provides a modular carrier for Rotor Vane
the actuator seals, bearings, and drainback ports. Seals
High Pressure
» Actuator Rotor Shaft – Machined steel alloy Sealing Surface
shaft with replaceable rotor vanes. Rotor
Vane
» High Pressure Seal – Low friction seal design
Low Pressure
prevents high pressure hydraulic fluid from flowing Seal
out of the cylinder.

» Rotor Vane – Bolt on vane design equipped with

non-metallic seals.
Actuator
» Rotor Vane Seals – Replaceable seals ensure a Rotor Shaft
minimum of leakage between chambers.

» Low Pressure Seal – U-shaped seal/wiper ring Front

prevents external leakage and protects against End Cap
internal contamination.
Radial Chamber
» Drainback Port – Collection port for fluid allowed Bearing Seals
to flow through the high pressure seals and bearing.
Fluid is returned to the hydraulic power supply. 216 Rotary Actuator Cut-Away View

3
4
Fixturing Options

There are a variety of options for the Series 216 Rotary Actuators. The following
photograph shows a typical test system containing a rotary actuator and the
available optional components. Each of the options is described below.

Reaction Base Reaction Bracket position of the actuator. Rotation of the

actuator will generate a feedback signal
A reaction base is used with the rotary Reaction brackets attach securely to the
from the ADT to a transducer conditioner.
actuator for two purposes: (1) the reaction base or T-slot table and provide
Rotation is continuous with no reactive
machined flat surface and edge ensure a mounting surface for the torque cell.
torque induced. The ADT is a precision
accurate alignment at any actuator Each reaction bracket is designed to
differential capacitor coupled to a solid
position; (2) it provides a rigid structure restrain a specific model torque cell.
state oscillator, demodulator, and amplifier
which can react the high torques
to yield DC input/DC output performance.
generated by the rotary actuator. Torque Cell
A torque cell provides a precise electrical Differential Pressure Cell
Flange Adapter feedback signal that is proportional to the
The differential pressure (∆P) cell is a
The flange adapter (located behind the torque applied to the specimen. For more
single-unit, dual port, bonded strain gage
diaphragm flexure in the photograph) is information on MTS torque cells, refer to
pressure sensor. Depending on the specific
secured to the actuator rotor shaft by two the appropriate MTS product specification.
application, the ∆P cell is used to stabilize
concentric lock ring assemblies. It provides
or control actuator force output. The ∆P cell
a coupling surface between the actuator ADT (located beneath the servovalve) provides
and the specimen or diaphragm flexure.
An angular displacement transducer a feedback signal to monitor fluid pressure
(ADT) connected to the rear shaft of the within the actuator housing. For more
Diaphragm Flexures actuator produces a DC electrical signal information on MTS ∆P cells refer to the
Diaphragm flexures are used at both ends that is proportional to the angular appropriate MTS product specification.
of the specimen if large axial and angular
deflections are generated during testing.
If reaction forces exceed stated actuator
operating limits, diaphragm flexures help
reduce the thrust and side loads reacted
by the actuator and test specimen.

Diaphragm
Flange ∆P Cell
Reaction Bracket Adapter
Fixtures

Torque Cell

ADT

Typical Rotary Actuator

Test System with
Optional Equipment

Reaction Base Plate

or T-Slot Table
5
 Specifications

The 216 Rotary Actuators are available in figure. Subsequent tables list the
three models. Table 1 lists the actuator specifications for the actuator options.
performance characteristics by model The letters in parenthesis indicate values
number. Table 2 (following page) lists used in calculations performed in the
the specifications for the basic actuator Testing Considerations section (page 11)
assembly shown in the accompanying of this specification.

Table 1. Actuator Specifications

Model Dynamic* Torque Rating Displacement

lbf-in. N-m in.3/rad cm3/rad
216.10 200,000 22,600 70 1,147
216.20 397,000 44,900 137 2,245
216.30 730,000 82,500 252 4,130

Model Maximum Thrust Load* Maximum Load on Front Bearing (W) Maximum Side Load† (P)
kip kN kip kN kip kN
216.10 3.8 16.9 12.7 56.5 5.7 25.4
216.20 7.2 32.0 17.6 78.3 7.7 34.3
216.30 15.0 66.7 28.8 128.1 13.1 58.3

Model Maximum Velocity Into Vane Stops†† Rotational Inertia of Actuator Dynamic Seal Friction‡‡
U.S. Customary Metric
lbm-in.2 kg-m2 lbf-in. N-m
rad/sec rad/sec

216.10 w = 867 w = 1486 725 0.212 2,500 282.5

√J √J

216.20 w = 1166 w = 19.95 2,180 0.637 4,500 508.4

√J √J

216.30 w = 1580 w = 27.02 6,350 1.858 8,500 960.4

√J √J

* Structural fatigue rating. Rated at differential pressure of 2900 psi (203 kg/cm2).
† Applied at end of output shaft and (M) equal to 0.0 lbf-in.
†† If values are excessive, additional internal or external cushions are required. Contact MTS Systems Corporation.
‡ Where w = rotational velocity in rad/sec and J or I = rotational inertia in lbm-in.2 or kg-m2 including inertia from rotary actuator, flange, flexure, and 1/2 of test specimen.
‡‡ Average test data at 1500 psi (10.3 MPa) strut pressure.

Specifications subject to change. Contact MTS for specifications critical to your needs.

6
Table 2. Actuator Dimensions

Model Weight A B C
lb kg in. mm in. mm in. mm
216.10 750 340 5.118 130.0 14.00 356 16.00 406
216.20 1300 590 6.299 160.0 17.75 451 20.00 508
216.30 2700 1230 7.874 200.0 22.00 559 27.00 686

Model D E F G
in. mm in. mm in. mm in. mm
216.10 6.86 174 2.62 76 6.50 165 12.00 304.8
216.20 7.55 186 2.87 82 8.00 203 16.00 406.4
216.30 8.26 210 4.14 105 8.50 216 23.00 584.2

Model H I J s u*
in. mm in.-Thd in. mm in. mm in. mm
216.10 4.50 114.3 3/4 - 10 2.00 50.8 7.35 186.7 9.12 231.6
216.20 5.00 127.0 1-8 2.25 57.2 8.30 210.8 10.75 273.0
216.30 6.00 152.4 1-8 2.25 57.2 10.00 254.0 12.00 304.8

*Not including specimen adapter.

Specifications subject to change. Contact MTS for specifications critical to your needs.

P
B u s
A dia.

M
C

0.12 in.
C/2 3 mm

0.12 in. W
3 mm

C F E D E

I thread
J depth G

7
 Table 3. Diaphragm Flexure Dimensions and Ratings

Model A B C D
lb kg in. mm in. mm in. mm
216.10 13.00 330.2 14.25 361.9 15.75 400.0 4.05 102.9
216.20 15.00 381.0 17.25 438.1 19.75 501.6 5.22 132.6
216.30 17.00 431.8 21.25 539.7 23.75 603.2 5.46 138.7

Model E F G Max Thrust Load*

in. mm in.-Thd in. mm lbf N
216.10 0.80 20.3 1-8 11.00 279.4 1,700 7,500
216.20 1.01 25.6 1 1/2 - 6 12.00 304.8 2,000 8,900
216.30 1.01 25.6 1 1/2 - 6 14.00 355.6 1,800 8,000

Model Maximum Deflection Maximum Bending Moment* (MF1) Maximum Angular Deflection. (θF1) Rotational Inertia
in. mm lbf-in. Nm Radians lbm-in2 kg-m2
216.10 0.05 1.3 5,000 560 0.002 3,338 0.98
216.20 0.13 3.3 6,600 750 0.005 10,296 3.01
216.30 0.39 9.9 8,000 900 0.017 21,112 6.18

* Thrust load and bending moment are interdependent. If bending moment = 75% of rating, bending moment must not exceed 25% of rating, etc.
Specifications subject to change. Contact MTS for specifications critical to your needs.

A B C

F thread equally
spaced on
G diameter

E D

8
Table 4. Flange Adapter Dimensions and Ratings

Model A B C D E
in. mm in. mm in. mm in.-Thd in. mm
216.10 5.118 130.0 14.00 355.6 6.25 158.7 1-8 3.25 82.5
216.20 6.299 158.2 15.00 381.0 7.62 193.5 1 1/2 - 6 4.00 101.6
216.30 7.874 200.0 17.00 431.8 8.25 209.5 1 1/2 - 6 4.00 101.6

Model F G H Rotational Inertia

in. mm in. mm in. mm lbm-in.2 kg-m2
216.10 1.031 26.2 1.00 25 11.00 279.4 6,550 1.92
216.20 1.531 38.9 1.00 25 12.00 304.8 10,400 3.04
216.30 1.531 38.9 1.00 25 14.00 355.6 18,300 5.35

Specifications subject to change. Contact MTS for specifications critical to your needs.

Table 5. Reaction Base Dimensions and Ratings

Model Length Width Height Max Space* Weight Torsional Stiffness† (K1)
in. mm in. mm in. mm in. mm lb kg lbf-in./rad N-m/rad
216.10 120 3048 24 610 26 660 75.3 1913 2000 1200 0.66 x 109 0.075 x 109
216.20 120 3048 27 686 29 737 67.5 1714 3600 1600 1.40 x 109 0.160 x 109
216.30 120 3048 32 813 34 864 60.5 1537 5700 2600 2.80 x 109 0.320 x 109

* Maximum space between mounting surfaces of actuator output flange and torque cell (with the MTS reaction bracket upporting the torque cell). (excludes diaphragm flexures.)
† Torsional stiffness over entire length. Stiffness increases proportionately as the actuator and reaction bracket are moved toward each other.

Specifications subject to change. Contact MTS for specifications critical to your needs.

A B

Thread: D, E depth C
Counterbore: F diameter, G depth
Bolt Circle: Equally spaced on H diameter

9
 Table 6. Reaction Bracket Dimensions

Model A B C D
lb kg in. mm in. mm in. mm
216.10 7.00 177.8 8.00 203.2 16.00 406.4 29.25 742.9
216.20 8.00 203.2 10.00 254.0 20.00 508.0 32.25 819.1
216.30 9.00 228.6 13.50 342.9 27.00 685.8 37.25 946.1

Model E F G H
lb kg in. mm in. mm in. mm
216.10 26.00 660.4 1.50 38.1 2.00 50.8 1.50 38.1
216.20 29.00 736.6 2.00 50.8 2.00 50.8 2.00 50.8
216.30 34.00 863.6 2.50 63.5 2.00 50.8 2.00 50.8

Model I J K L M
lb kg in. mm in. mm in. mm in. mm
216.10 1.031 26.2 1.062 27.0 11.00 279.4 16.00 406.4 14.50 368.3
216.20 1.031 26.2 1.562 39.7 12.00 304.8 18.00 457.2 16.00 406.4
216.30 1.031 26.2 1.516 38.5 14.00 355.6 26.00 660.4 18.50 469.9

Specifications subject to change. Contact MTS for specifications critical to your needs.

1.625 typical M
I diameter
F
G
G

L H
J diameter
K diameter
bolt circle

H
B

D A

10
Testing Considerations or predict the forces that can result from Multiply the flexure stiffness by the amount
specific testing situations. If there is a of specimen expansion to determine the
This section describes factors that must
possibility that the maximum thrust load thrust load imposed on the actuator
be considered when using the Series 216
rating of the actuator will be exceeded bearings. Ensure that the resultant trust
Rotary Actuators in a test system. It
during testing, steps should be taken to load does not exceed the maximum
includes sample calculations that should
minimize the load. One way of reducing allowable thrust load listed in Table 1.
help you determine the constraints on
the effect of thrust loads on the actuator
your planned testing scenario.
bearings is to install diaphragm flexures.
Side loads
The thrust and side loads that may be
As an example of thrust loads (which are
encountered during testing are generally Side loads, which are normally induced
a function of specimen geometry and
the result of the following factors: by specimen misalignment and/or reaction
material), increase the temperature of a
base or T-slot table compliance, may be
» Specimen shortening or lengthening steel shaft 1 in. (25.4 mm) in diameter and
active at the same time thrust loads are
due to torsional force 50 in. (1,270 mm) in length by 40°F (22°C).
active. If the specimen is soft, such as a
The increase in specimen temperature
» Specimen shortening or lengthening length of rubber hose, side loads are
causes the shaft to expand by approximately
due to temperature relatively small. This is because the
0.012 in. (0.305 mm). If the shaft is mounted
specimen bends easily and exerts little
» Misalignment of the test specimen in a force train using a 216 Rotary Actuator,
resistance to the deflection caused by
when initially mounted the shaft expansion would exert a resultant
reaction base twisting.
force of 6,000 lbs. on the actuator bearings.
» Reaction base or T-slot table twisting
To confine the resultant force to an However, if the specimen is stiffer, then
» Permanent deformation of the acceptable maximum requires the addition the increased resistance of the specimen
specimen due to torsional force of flexure diaphragms to the force train. to bending exerts substantial side loads
on the specimen, actuator bearings and
Use the values from Table 3 to complete torque cell due to the restraining
Thrust loads
the following formula: characteristics of the test setup. As in
Table 1 lists the maximum allowable the test setup for thrust loads, diaphragm
thrust load that can be applied to the Maximum thrust load flexures can be used to reduce the side
= Flexure stiffness
actuator rotor shaft. Because thrust Maximum deflection loads to a practical limit.
loads can be induced by a wide variety (of flexure)
of experimental conditions, this
specification will not attempt to define

11
 Definition of Mathematical Terms

This section lists and defines the mathematical terms that are required to complete the
sample calculations. The terms are listed in alphabetical order and defined in both U.S.
Customary and SI Metric units of measure.

Table 7. Mathematical Terms

Term Definition

a = Distance from actuator’s center line to center of reaction base’s solid height (in.) (mm).
b = Width of reaction base (in.) (mm).

d = Thickness of reaction base (in.) (mm). Measurement of solid metal only. Do not include T-slot depth.

ES = Modulus of elasticity of the reaction base or T-slot table, shear (lb/in.2) (N/m2).

E = Modulus of elasticity of the specimen, tension (lb/in.2) (N/m2).

I = Moment of inertia (πr 4/4) for a round solid (in.4) (mm4).

K1 = Torsional stiffness of a thin flat plate (lbf-in./rad) (N-m/rad).

K2 = Lateral stiffness of a solid cylindrical specimen (lbf/in.) (kN/mm).

K F1 = Angular horizontal stiffness of actuator and reaction bracket (lbf-in./rad) (N-m/rad).

K F2 = Lateral stiffness of diaphragm flexures (lbf-in./rad) (N-m/rad).

L1 = Length of reaction base or T-slot table subjected to twisting (in.) (mm).

Length of test specimen (in.) (mm).
L2 =
Do not include specimen adapter plates unless their compliance is equal to or greater than that of the specimen.
M = Bending moment on test specimen (lbf-in.) (N-m).

M1 = Bending moment on test specimen fitted with flexure diaphragms (lbf-in.) (N-m).

MF 1 = Maximum horizontal bending capacity of flexures (lbf-in.) (N-m).

P = Side load imposed on test specimen and actuator (lbf-in.) (N-m).

r = Radius of test specimen (in.) (mm).

s = Distance between front and rear bearings (in.) (mm).

SB = Bending stress on test specimen due to reaction base twisting (psi) (N/m2).

T = Applied torque (lbf-in.) (N-m).

u = Distance from front bearing to specimen (in.) (mm). Include specimen adapter plates if they are less compliant than the specimen.

W = Load on front actuator bearing (lbf) (kN).

∆ = Centerline offset between actuator and reaction bracket mountings due to twisting of reaction base or T-slot table (in.) (mm).

θ = Angle of flex imposed on actuator and reaction bracket flexure (radians).

θF 1 = Maximum horizontal angular deflection of flexures (radians).

12
Side Load Calculations when Excluding Flexures

If diaphragm flexures will not be used in the rotary actuator test system, special attention
should be paid to the side loads that will be imposed on the specimen and actuator
by twisting of the reaction base or T-slot table. The following side load calculation
procedure is used to determine side loads due to the reaction base or T-slot table
torsional compliance. When side loads are unacceptable as determined from the
procedure, optional components are required in the force train to reduce the load
imposed on the actuator and torque sensor.

L1

W P

∆
M T
b

M
T

s u L2
d

2r

a
d/2

Loads on an Actuator and Specimen due to Reaction Base Twist (Excluding Thrust Loads)

13
 Sample Calculation

The preceding figure illustrates the forces and measurements pertinent to the calculations.
Refer to Tables 1 and 2 for dimensions and ratings of the Model 216.10 Rotary Actuator
used in the example.

The following procedure uses sample values. When performing B. Calculate the value of K2, the lateral stiffness of a solid
the calculations to determine the anticipated test forces, the cylindrical specimen, by using the formula:
values appropriate to your specific test should be substituted for
the sample values. In addition, the example uses U.S. Customary K2 = 12 EI
L23
units of measure. The equivalent SI metric units of measure are
defined in Table 7. where: E = 29 x 106 lb/in.2
I = πr
4
The following values are supplied for the sample calculations: 4
r = 1.75 in.
a = 11 in. (distance from actuator center line to reaction
base center) L2 = 10 in.

b = 20 in. (width of reaction base) π(1.75)4

12 (29 x 106 lb/in.2) 4
d = 6 in. (thickness of reaction base) then: K2 =
(10)3
L1 = 51 in. (length of reaction base subjected to twisting) = 2.563 x 10 lbf/in.
6

L2 = 10 in. (length of test specimen and specimen adapter plates)

C. Substitute the calculated values for K1, K2, and the example
r = 1.75 in. (radius of test specimen) values into the original equation to compute the side load (P).
s = 7.35 in. (distance between front and rear actuator bearings) K2
aT
T = 150,000 lbf-in. (applied torque) K1
P =
u = 9.12 in. (distance from front actuator bearing to specimen) K
1 + 2 a2
ES = 12 x 106 lb/in.2 (modulus of elasticity of the reaction base K1
or T-slot table)
where: a = 11 in.
T = 150,000 lbf-in.

1. Calculate the side load (P) imposed on the test specimen 2.563 x 106 lbf-in.
(11 in.) (150,000 lbf-in.)
and actuator bearing as a result of reaction base twist 274.4 x 106 lbf-in./rad
using the following formula: then: P =
2.563 x 106 lbf-in.
1 + (11 in.)2
K2 274.4 x 106 lbf-in./rad
aT
K1
P = = 15411.625 = 7,234.873 lbf
K 2.1301859
1 + 2 a2
K1 The value of 7,234.873 lbf is the side load (P) imposed on the test
specimen and actuator by reaction base twist.
The values of K1 and K2 can be found using the following equations:

A. If you are using an MTS reaction base, select the appropriate

value for K1 from Table 5. Otherwise, calculate the value of
K1, the torsional stiffness of a thin flat plate, by using the 2. Calculate the bending moment (M) on the test specimen by
following formula*: using the following formula:
d
ES [(0.333 - (0.21 x b )] bd3 PL
M= 2
K1 =
L1 2
where: (7,234.873 lbf) (10 in.)
6 M=
2
12 x 106 lb/in.2 [(0.333 - (0.21 x 20)] (20 in.) (6 in.)3
then: K1 = = 36,174.365 lbf-in.
51 in.

lbf-in. The value of 36,174.365 lbf-in. is the bending moment exerted on the
= 274.4 x 106 rad actuator shaft and specimen.

d
* In the formula, [0.333 - (0.21 x )] is used in place of J (polar momentary
b
inertia) due to warpage that occurs in thin flat plates under torque.
14
3. Calculate the load on the front actuator bearing (W) by using 5. Calculate the stress (SB) induced in the specimen due to
the following formula: reaction base twist by using the following formula:

{ u} M SB = Mr
W = P 1+ s + s I
Substitute the calculated value for P, M, and the example constants where: I = πr
4

into the equation and compute the load on the front actuator 4
bearing (W) given:
= π(1.75) = 7.366 in.4
4

s = 7.35 in. 4
u = 9.12 in.
36,174.365 in. then: SB = 36,174.365 lbf-in. (1.75 in.)
W = 7,234.873 lbf (1+ 9.12 in.) + 7.366 in.4
7.35 in. 7.35 in.
= 8,594.24 psi
s = 21,133 lbf
The value, 8,594.24 psi represents the amount of stress experienced
by the specimen due to reaction base twist. In a torsion test, stress
4. Compare the result of step 3 with the specific model actuator
caused by reaction base or T-slot table twist should typically be
bearing capacity in Table 1.
zero or as close to zero as possible. In the sample calculation, the
In the sample problem, the actuator bearing capacity of a Model excessive stress imposed on the test specimen can invalidate the
216.10 Rotary Actuator is 12,700 lbf. The calculated force on the test results or cause premature failure of the specimen. To reduce
actuator bearing is 21,133 lbf. This force is significantly greater these loads requires the use of diaphragm flexures or a stiffer
than the actuator bearing capacity. Operating the actuator with mounting surface.
such a large force applied to the bearing causes additional wear
of the actuator, reduces its service life, and can cause premature
failure of the test specimen due to the additional stress.

Side Load Calculations when Using Flexures

L1
If the values derived from the calculations
in the previous example indicate that
diaphragm flexures must be used to W P
θ
reduce side loads to acceptable levels,
then the following calculations should ∆ T M T
be completed to ensure that the selected b
diaphragm flexures are adequate. In
addition, this subsection contains the M
equations necessary for calculating the
stress experienced by the specimen when P
diaphragm flexures are installed in the
test system.
s u L2
d

2r

a
d/2

Force Train with Diaphragm Flexures Mounted at Both Ends of Test Specimen
15
 Sample Calculation

The following procedure uses the values derived from the previous sample calculations.
The preceding figure illustrates the forces and measurements pertinent to the calculations.
Refer to Tables 1 and 2 for dimensions and ratings of the Model 216.10 Rotary Actuator
used in the example.

The following sample values will be used in the equations: 4. Calculate the lateral stiffness (KF1) of the diaphragm flexures
by using the following formula:
a = 11 in. (distance from actuator center line to reaction
base center) KF1 = MF1
θ F1
K1 = 274.4 x 106 lbf-in./rad (torsional stiffness of thin flat plate)
L1 = 51 in. (length of reaction base subjected to twisting) where: MF2 = 5,000 lbf-in.
θF1 = 0.002 rad
L2 = 18.1 in. (length of specimen, adapter plates, and flexures)
MF1 = 15,000 lbf-in. (maximum horizontal flexure bending capacity) then: KF = 5,000 lbf-in.
1 0.002 rad
θF1 = 0.002 rad (maximum horizontal flexure angular deflection) = 2.5 rad x 106 lbf-in./rad
s = 7.35 in. (distance between front and rear actuator bearings)
T = 150,000 lbf-in. (applied torque)
5. Calculate the bending moment (M1) that is applied to the test
u = 9.12 in. (distance from front actuator bearing to specimen) specimen when equipped with flexures.
M1 = (KF1) (θ)
1. Calculate the center line offset (∆) between actuator and M1 = (2.5 x 106 in.-lb/rad) (0.000332 rad)
reaction bracket due to reaction base twist by using the
following formula: = 830 lbf-in.

∆ = Ta
K1
6. Calculate the load (W) on the front actuator bearing when
where: a = 11 in.
diaphragm flexures installed by using the following formula:
K1 = 274.4 x 106 lbf-in.
rad

T = 150,000 lbf-in. W ( u) M1
= P 1+ s + s
2M1 2 (830 lbf-in.)
(150,000) (11 in.) where: P = = = 46 lbf
then:

∆ = 274.4 x 106 L1 18.1 in.
= 0.00601 in. u = 9.12 in.
s = 7.35 in.
L2 = 18.1 in.
2. Calculate the angle of flex (θ) imposed on each diaphragm
flexure by using the following formula: M1 = 1502.5 lbf-in.

θ= ∆ then: W = 46 lbf (1 +
912 in. ) 830 lbf-in.
+
L2 7.35 in. 7.35 in.
where: L2 = 18.1 in.
= 216.0 lbf

0.00601 in.
then: θ=
18.1 in.
= 0.000332 rad 7. Calculate the stress (SB) induced in the specimen due to
reaction base twist by using the following formula:

3. Compare the maximum horizontal angular deflection of the SB = M1r

diaphragm flexures (θF1 = 0.002 rad) with the calculated angle I
of flex imposed on one diaphragm flexure (θ = 0.000601 rad)
where: M2 = 830 lbf-in.
to determine if the flexures are adequate.
r = 1.75 in.
θ < θF1 I = 7.366 in.4
In the case of the sample calculation, the flexures are adequate.
If the flexures are not adequate, additional flexural capability is 830 lbf-in. (1.75 in.)
then: SB =
required or reaction base stiffness must be increased. Consult 7.366 in.4
MTS Systems for assistance. = 197.2 psi
16
Rotational Inertia

This section describes how to calculate the total rotational inertia of the 216 Rotary
Actuator, specimen, and optional equipment. If the total rotational inertia exceeds
recommended levels and the actuator is allowed to rotate until the rotor vane makes
contact with the rotor vane stops, then the flange adapter may rotate on the actuator
shaft or the actuator may be damaged.

To determine if the internal actuator rotor vane stops are adequate, 2. To determine JS refer to Substeps A, B, and C and select
the total rotational inertia (JT) must be determined for the the formula appropriate to the specimen configuration.
rotating mass. JT equals the sum of the calculated J for the Refer to the figure on page 18 and note that m is equal to the mass of
specimen, plus known J for the actuator, flange, and flexures. the specimen.

Table 8 provides the rotational inertia values for the actuator A. If the specimen is a regular solid mass, use the following
and optional components. Table 9 lists the maximum allowable formula to calculate JS:
rotational inertia values in both U.S. Customary and SI metric
JS = 1
units for each available actuator/servovalve combination. The 2 mr2
following procedure describes how to calculate the total
rotational inertia. where: m = πr2Lρ
L = length
ρ = density

Rotational Inertia Equations

B. If the specimen is a regular hollow mass, use the following
1. Calculate the total rotational inertia by using the formula to calculate JS:
following formula:
JS = 1
JT = JR + JF + JD + JS 2 m (r02 + r12)

where: JR = rotational inertia for actuator where: m = π(r02 + r12)Lρ

JF = rotational inertia for flange adapter options L = length
JD = rotational inertia for diaphragm flexure ρ = density
JS = rotational inertia value for specimen
configurations (step 2) C. If the specimen is an offset mass, use the following formula
to calculate JS:
JS = mr2

Table 8. Rotational Inertia for Actuator Components

Model Rotary Actuator (JR) Flange Adapter (JF) Diaphragm Flexure (JD)
lbm-in.2 kg-m2 lbm-in.2 kg-m2 lbm-in.2 kg-m2
216.10 725 2.12 6,500 1.92 2,700 0.79
216.20 2,180 6.37 10,400 3.04 7,900 2.30
216.30 6,350 18.43 18,300 5.35 14,300 4.20

17
 3. After calculating the total rotational inertia (JT), compare the value to the maximum
allowable JT for the specific actuator and servovalve combination indicated in Table
9. If the maximum allowable JT exceeds the maximum levels specified in Table 9, then
steps must be taken to control actuator motion and limit servovalve pressure.
Contact MTS Systems Corporation for information on available actuator cushions
and cross port relief valves.

m 1 Mass

m 1 Mass m 1 Mass
a m

r0 r1

(a) (b) (c)

Solid Mass Hollow Mass Offset Mass

Rotational Mass Measuring Points

Table 9. Maximum Allowable Rotational Inertia (J) When Using Only Internal Actuator Rotor Vane Stops

U.S.Customary

Model Servovalve Flow Max JT for Actuator Model (lbm-in.2)

Rated (gpm) Peak* (gpm) 216.10 216.20 216.30
252.25 15 26 367,592 2,546,602 15,821,000
252.31 25 43 134,392 931,045 5,784,381
252.32 40 70 50,712 351,327 2,182,718
252.33 60 103 23,422 162,268 1,008,136
256.05 50 87 32,830 227,441 1,413,042
256.09 90 156 10,210 70,738 439,458
256.18 180 311 2,569 17,798 110,579

SI Metric

Model Servovalve Flow Max JT for Actuator Model (lbm-in.2)

Rated (l/m) Peak (l/m) 216.10 216.20 216.30
252.25 56.77 98.40 70.11 443.95 1854.42
252.31 94.62 162.75 25.63 162.31 677.98
252.32 151.39 264.94 9.67 61.25 255.83
252.33 227.09 389.83 4.47 28.29 118.16
256.05 189.24 329.28 6.26 39.65 165.62
256.09 340.63 590.43 1.95 12.33 51.51
256.18 681.26 1177.07 0.49 3.10 12.96

*Flow through the valve at 3,000 psi (∆P). Using reduced system pressures (∆P) will decrease peak flow Q peak = Q rated √1000
∆P
.
Decreasing peak flow will allow an increase in acceptable inertia (J). Refer to Table 1 for the maximum velocity into vane
stops where W = Q peak x 3.85 in. /sec .
3

Displacement in. 3/rad

18
Ordering Information

The standard Series 216 Rotary Actuator

assembly includes the actuator, ADT,
servovalve manifold (standard MTS
Model 256 type), flange adapter, and one
diaphragm flexure. The following
optional equipment is also available:

» Diaphragm flexure

» Torque cell 216 Rotary

Actuator/
» Reaction bracket Supports

» Reaction base
When ordering, please indicate the desired actuator
force rating and specify the desired options.

Related Products

Refer to the following MTS Product

Specifications for information on
products that are commonly used in
conjunction with the Series 216 Rotary
Actuator:

» Series 252 Servovalves

» Series 256 Servovalves

» Models 660.22 and 660.23 Differential

Pressure Cells

» Series 633 Reaction Torque Sensors

19
 Regional Business Centers

T HE AME RICAS E UR OP E AS I A/ PAC I F I C

MTS Systems Corporation MTS Systems France MTS Japan Ltd.

14000 Technology Drive BAT EXA 16 Raiden Bldg. 3F 3-22-6,
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USA 94046 Créteil Cedex Tokyo 130- 0026
Telephone: 952-937-4000 France Japan
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Germany Seongnam-si
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Italy Floor 34, Building B,
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Datavägen 37b
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SE-436 32 Askim
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Telephone: +46-(0)31-68 69 99
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Hunslet,
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Leeds
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LS102AZ
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E-mail: [email protected]
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Telephone: + 91 80 46254100
Email: [email protected]

m
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