Professional Documents
Culture Documents
E L E C T R I C AC T U AT O R S
FOR INDUSTRIAL PROCESS CONTROL
1
2
TABLE OF CONTENTS
Introduction ........................................................................ 4–7
INTRODUCTION
Rotary Damper Drives ....................................................... 8–25
• Model Group 11 & 22
DAMPER
ROTARY
DRIVES
Available in a range of torque outputs from 15 to 8,000 lb-ft. Linkage kits and pedestals
are available for easy field mounting to final control elements.
LONG STROKE
• Model Group 42
ACTUATORS
LINEAR
Providing up to 1,000 lbs. of thrust, these actuators are ideally suited for burner air regis-
ter type applications.
QUARTER-TURN
• Model Group 11 & 31
ACTUATORS
VALVE
Providing up to 1,800 lb-ft of torque, these actuators are available with valves as factory-
mounted assemblies, ready for pipeline installation.
ACTUATORS
LINEAR
VALVE
Beck linear actuators incorporate a unique design feature that ensures tight shut-off by
maintaining rated thrust (340 to 4,000 lbs.) at the end of travel.
Beck drives are available to improve the efficiency of almost any process; including multi-
rev drives, burner tilt units, fluid couplings, magnetic couplings, material flow gates and
pump handle valves.
Beck offers a wide range of accessories and services to meet all of your actuation needs;
including installation assistance, various drive options, linkage kits, hazardous location
ratings, site surveys and spare parts planning.
3
4
INTRODUCTION
Beck's reliability, unique design and expert assistance will help you meet
INTRODUCTION
your process control objectives.
5
PROCESS CONTROL IMPROVEMENT
Engineered to the High Performance technologies. However, real performance
Standards of Today’s Sophisticated improvements will only be realized if the final
Control Instrumentation control element is up to the task. Frequently,
the inconsistent and sluggish performance
To fully utilize the power and performance
of pneumatic actuators or the unreliability
capabilities of today’s process control
of typical electric actuators is the limiting
instrumentation, the final control element
factor in the performance of the control loop.
must be positioned quickly, precisely and
Therefore, when it is necessary to improve
consistently. Beck electronic control drives
process control performance, the first step is
provide instantaneous response with the
to improve final control element performance.
precision and repeatability necessary to fully
utilize control system capabilities. Beck drives maximize final control
element performance, providing responsive,
As the emphasis in industry continues
repeatable actuation. Beck's unique
to focus on improved quality and efficiency,
design—incorporating a no-burnout motor,
and as environmental pressures continue
efficient spur gearing and accurate, durable
to expand, the need for improved process
electronics—enables the Beck drive to start
control performance will also continue to
and stop instantly, virtually eliminating dead
broaden. Industry will continue to make
time and overshoot regardless of load or
large capital investments in state-of-the-
process conditions.
art instrumentation and advanced control
52.5
52
POSITION
51.5
Figure 1-1
51
Pneumatic actuator
PERCENT OF SPAN
50.5
DEMAND
response to a 2%
50
ramping demand
49.5
49
48.5
0 20 40 60 80 100 120
TIME, seconds
52.5
52
51.5
DEMAND
POSITION Figure 1-2
51
50.5
response to a 2%
50
ramping demand
49.5
49
48.5
0 20 40 60 80 100 120
TIME, seconds
6
More Consistent and Precise than More Reliable than Conventional
INTRODUCTION
Pneumatics Electric Actuators
Beck control drives eliminate the Beck drives incorporate a no-burnout
performance bottlenecks created by motor, an efficient spur gear drive train and
inconsistent and nonlinear pneumatic accurate, durable electronics. This unique
actuator performance, which typically varies design eliminates the performance limitations
as a function of frictional and dynamic load, typical of electric actuators, including
process conditions, the condition of the valve overheating motors, trips, worm gear wear-
or damper and the performance of actuator induced backlash, coasting and other
accessories such as I/P transducers, positioning inaccuracies.
regulators and positioners. Unlike pneumatic Beck-built motors are specifically
actuators, Beck drives provide consistent and designed to provide instant acceleration and
repeatable positioning. deceleration for extremely precise positioning
Figure 1-1 shows the response of a in modulating applications. These reliable
pneumatic diaphragm valve actuator to a motors do not burn out or overheat even
2% ramping demand signal representative under the demanding conditions of an active
of a control signal modulating the valve. control loop.
The response demonstrates actuator dead Figure 1-3 illustrates the cool, stable
time and overshoot often referred to as operation of the Beck drive motor in
“stick and slip.” It is not unusual for stick to comparison with conventional single-
completely prevent actuator response to the phase and three-phase motors. Tests
small demand changes typical of continuous were conducted under a 100% duty cycle
process control. to simulate maximum control loop activity.
Figure 1-2 shows the response of a Beck The temperature in the conventional motors
Electronic Control Drive to the same demand. quickly rose to a dangerous level, tripping
The Beck drive tracks the demand closely, the thermal overloads, rendering the motor
eliminating dead time and the significant unavailable for control.
overshoot associated with the pneumatic The Beck motor, in contrast, slowly
actuator. This type of performance gain in rose in temperature under these service
the actuator could be the difference between conditions, remaining stable and continuously
an uncontrollable flow loop and a tightly available for process control.
controlled one.
Throughout this brochure, the phrase
“continuous operation” refers to the drive’s
ability to operate continuously when required
for accurate process control, especially
during start-up, load changes and process
upsets. However, excessive modulation due
to process noise, electrical control signal
noise, or control signal aliasing will shorten
the life of the drive as well as the valve or
damper. For this reason, the control loop
should be properly analyzed and tuned to
avoid excessive or unwarranted modulation.
Figure 1-3
Cool, stable operation of the Beck
control motor
7
8
GROUP 11 ROTARY
DAMPER DRIVES
Accurate, dependable control for a wide variety of damper applications.
INTRODUCTION
DAMPER
ROTARY
DRIVES
In many industries, Beck Group 11
damper drives are the benchmark for
damper actuation. The Group 11 is an
electric actuator capable of precise,
consistent modulation of all types and
sizes of control dampers. Unlike traditional
electric actuators, Beck drives have no
duty cycle limitation and can continuously
modulate without overheating. Beck drives
also eliminate the problems associated with
pneumatic actuators like stick-slip response,
inconsistent performance and air quality
problems.
Beck Group 11 damper drives are
virtually maintenance-free, and designed
for harsh industrial environments. Beck
damper drives improve process control while
drastically reducing maintenance costs.
With years of experience
and technical support
unmatched in the
industry, Beck Sales
and Application
Engineeers can
help you select the
right Beck drive and
accessories for any
application.
9
FEATURES
Beck Drive Motor • Low current draw of 0.16 A to 3.0 A,
Precise, Reliable Control and therefore low power consumption,
Together with Beck’s control electronics eliminates the need for relays and permits
and rugged gear train, Beck motors provide the use of uninterruptible power supplies.
the precise, reliable positioning required for • Maintenance-free with double-lipped,
modern control loops. grease-sealed bearings.
• Never overheats or burns out, even Electric Handswitch
under demanding modulating control or Time-Saving Local Operation
stalled conditions. Dampers or valves may be operated
• Reaches full speed and torque in less at their individual locations with the built-in
than 50 milliseconds and stops within 25 electric Handswitch. This saves time during
milliseconds, eliminating deadtime. installation and troubleshooting, allowing
• Provides extremely accurate positioning in on-line adjustments to be made quickly and
modulating applications. easily by bypassing the electronics in the
drive and control system.
• Will not coast or overshoot the desired
position. The Handswitch also serves as an
electrical backup in the event of control
system failure.
AUXILIARY
SWITCHES
POSITION SENSING
DEVICE (CPS)
DAMPER
ROTARY
DRIVES
• Field-adjustable to operate at any point in
the drive’s travel range. with corrosion-resistant poly-urethane paint
provide a rugged, dust-tight, weatherproof
• May initiate secondary functions or provide NEMA 4X enclosure. Models approved
remote indication of drive position. for use in Hazardous classified locations
• Eliminates unreliable and maintenance- are available—contact a Beck Sales or
intensive proximity switches. Application Engineer for details.
Drive Train • Individual compartments protect all major
Power and Durability to components: Motor, DCM, CPS, gear train
Maximize Control Availability and installation wiring terminal board.
Beck’s durable gear train maintains • Each compartment can be accessed
accurate, consistent control element without exposing other components.
positioning even under the demanding • Gasketed, precision-machined covers
conditions of an active control loop. provide extra protection for harsh indoor
• Gear trains employ a unique, all spur gear and outdoor environments.
construction of heat-treated alloy steels • Output and Handwheel shafts are also
and ductile iron. sealed with weatherproof, double-lip seals.
• Efficient, wide-face spur gearing essentially
eliminates wear-induced backlash and
positioning inaccuracies.
• Durable design provides up to 4 days of
protection against intermittent or extended
accidental stalls.
• Integral self-locking mechanism ensures
that drives hold a minimum of 200% of
rated torque with the motor de-energized.
Manual Handwheel
Convenient Manual Control Without Declutch
An easy-to-turn, spoke-free Handwheel Mounting Versatility
is incorporated into the Group 11 design to Beck Drives can be Mounted in any
allow manual operation during installation or Orientation for Greater Installation
power outages. Flexibility
• Handwheel can be used to move valves Beck drives are configured and lubricated
and dampers to any position smoothly and in such a way that they may be mounted in
easily under full load conditions. any convenient position. This flexibility allows
• Mechanical stops in housing prevent drives to be installed in hard-to-fit locations.
manual overtravel. As long as housing compartments remain
• The motor operates at 72 or 120 RPM, so accessible, there are no mounting orientation
the Handwheel poses no safety hazard. limits.
11
SPECIFICATIONS
Use the charts on this page to create a full TORQUE, TIMING & MOTOR CURRENTS
specification model number. Basic Torque Timing4 Motor1,2,3
First, select the basic model no. from the Model No. (lb-ft) (sec./100°) Current (A)
chart at right (blue column) and enter the first four 15 11 0.32
digits in the blue "Model No." field below. Now 20 20 0.17
40 20 0.32
select the control option that suits the application 11-150 40 40 0.17
requirements using the information in the chart at 60 60 0.17
the bottom of the page (brown column). Enter the 80 40 0.32
control option designation number (3 through 9) in 80 90 0.17
the brown area of the "Model No." field below. 125 20 0.56
125 40 0.35
The next step is to determine the required
11-200 175 60 0.35
torque for the application as well as select the 250 40 0.56
full stroke time in seconds as shown in the chart 250 75 0.35
at right (green and yellow columns). Enter the 300 40 0.56
selected torque option in the green "Torque" 300 100 0.35
field and the selected timing option in the yellow 11-300 400 60 0.56
"Timing" field below. 550 75 0.56
650 100 0.56
Finally, select the number of auxiliary switches 350 24 1.30
desired (0, 2 or 4) and enter that number in the 550 40 1.30
purple "Aux. Switches" field below. 650 24 2.20
The full specification model number is 800 60 1.30
1000 24 3.00
complete and can be used to specify a Beck drive. 11-400
1000 40 2.20
For example, 11–409–1000–40–2 denotes an 1000 75 1.30
11-400 basic model for modulating control (option 1500 100 1.30
9 Digital Control Module) that is rated for 1,000 1800 36 3.00
lb-ft torque output with a full stroke time of 40 1800 60 2.20
2900 72 3.00
sec/100°. It is equipped with two auxiliary form C 2900 120 2.20
switches. 11-430
5200 108 3.00
5200 180 2.20
0 = Standard
2 or 4 = Optional5
CONTROL OPTION CHART6
Control Control Control Std. Control Position Std. Position
Option Mode Board Input Sensor Feedback
9 Modulating DCM-2* 4–20 mA CPS-2 4–20 mA
8 Modulating ESR-4 4–20 mA CPS-2 4–20 mA
7 Modulating ESR-4 4–20 mA Film Pot. None
6 Modulating None 120 V ac CPS-2 4–20 mA
5 Modulating None 120 V ac Film Pot. Film Pot.
4 5-Position None 120 V ac None None
4 3-Position None 120 V ac None None
2-Position
3 None 120 V ac None None
(Open/Close)
1 Unique Beck motor design has starting & stall current that approximate running current, so thermal overload protection is not required--just provide
normal short-circuit protection.
2 Motor currents shown are 60 Hz -- 50 Hz currents do not exceed 120% of 60 Hz levels.
3 Actuator current @ 240 V ac is approx. 1/2 the 120 V ac current (motor current does not change @ 240 V ac).
4 Stroke timings shown are based on 60 Hz power; 50 Hz power provides timings 20% greater.
5 2 or 4 auxiliary switches are available for most Group 11 actuators. Contact the factory regarding switch availability on control option 4 models.
Standard travel limit switches have extra contacts which can be used for external signaling on 2-, 3- or 5-position control modes.
6 Contact the factory if the signal options listed do not meet your requirements.
* Smart Digital Control Module with std. HART communication capabilities (Foundation Fieldbus is available as an extra cost option).
12
General Specifications
Input Power
120 V ac, single-phase 50 or 60 Hz
240 V ac, single-phase 50 or 60 Hz
Operating Conditions
–40º to 185ºF (–40º to 85ºC)
Isolation
Demand Input and Position Feedback signals are isolated from the ground and the ac power line.
Action on Loss of Power
Stays in place.
DAMPER
ROTARY
DRIVES
Control Types
Modulating with Digital Control Module (DCM)
Modulating with analog electronics (ESR)
Modulating direct ac motor control
3,5 or 6 position control
2 position (open/close) control
Input and Feedback Signals
Depends upon the drive control option. See page 12.
Available Communication Protocols
Option 9 drives (see page 12) may be equipped with HART® or Fieldbus Foundation™ technology.
Contact a Beck Sales Engineer for details and information regarding other options.
Minimum Step Size (Modulating Control)
DCM -- 0.10% (0.15% typical) (configurable)
ESR -- 0.10% (0.15% typical)
Direct AC -- 0.1° (function of control system capabilities)
Stall Protection (protects drive and driven elements under stall conditions)
DCM -- Time to stall is configurable from 30 to 300 seconds.
Other control types -- Optional Stall Protection Module is available.
Action on Loss of Input Signal (Power On)
Stays in place or, with some options, is field configurable to move to any preset position.
Overtravel Limit Switches (Dedicated)
Two Form C switches provide overtravel protection.
Auxiliary Switches (Non-Dedicated)
Up to four 6A, 120 V ac switches available. Switches are cam-operated and field-adjustable.
Handswitch
Permits local electrical operation independent of the controller signal. Standard on all units. An
optional auxiliary contact can be used to indicate that the Handswitch is in "AUTO" mode or to sound
an alarm if it is taken out of "AUTO". A locking Handswitch is also available.
Enclosure
Precision-machined, aluminum alloy castings painted with corrosion-resistant polyurethane paint
provide a rugged, dust-tight, weatherproof enclosure. NEMA 4X; IP68, 3 meters/48 hours*.
*Internal water damage is not covered by warranty.
Standards**
UL Listed; CSA Listed; CE Compliant
**For standards not specifically listed, please call Beck for more information at 215-968-4600.
Hazardous Locations***
Class I, Div. 2, Groups C & D; Class II, Div. 2, Groups F & G.
***If these ratings do not meet your requirements, call Beck at 215-968-4600.
Mounting Orientation
Any orientation—no limitations.
13
SPECIFICATIONS
Model 11-150 Outline Dimension Drawings
Crank Arm
Crank Arm
14
Model 11-400 Outline Dimension Drawings
DAMPER
ROTARY
DRIVES
Crank Arm
Mechanical Specifications
15
SPECIFICATIONS
Model 11-430 Outline Dimension Drawings
Orientation A
18 15/16
10 1/8 8 13/16
Cover, Position
Sensing Devices
14 3/8
4 21/32
3 1/2 3 1/2
2 63/64
2 3/16
5 3/8
29 1/16
28 13/32 Allow 9" For Removal
2 5/8 ±1/8
Allow 10"
19 1/32 min. for
Access
9 3/16
18 15/16
1" N.P.T. Conduit Allow 10" Min.
10 1/8 8 13/16 Power Connection For Access
4 21/32
14 3/8 Cover,
DAMPER
ROTARY
DRIVES
Terminal Block
3 1/2 3 1/2 External Wiring
28 13/32
21 3/4
7
19 1/32 24 1/8
2 5/8 ±1/8
5 3/8
Gear 9 3/16
Module
Assy.
1 9/16
1/2 7 1/8
11 7/16 10 1/8
10 1/4
10 1/64 4 3/4
12 7/8 11 9/16 7/8
17 13/32
5 3/8 5 3/8
CRANK PIN 1 1/2-12 UNF x CRANK PIN BOLTS (3) ROD END NUT
BOLTS (3) 2 5/8 DEEP AND 1 1/2-12 UNF x
CRANK PIN 2 5/8 DEEP
17
18
GROUP 22 ROTARY
DAMPER DRIVES
High torque capability in a compact, modular design featuring advanced
digital electronics and traditional Beck reliability.
INTRODUCTION
DAMPER
ROTARY
DRIVES
Group 22 control drives offer excellent
performance in a maintenance-free design,
plus the added flexibility and features
provided by microprocessor-based
electronics.
Ideally suited for large fan damper
applications, model 22-309, 22-409 and
22-809 drives are capable of modulating both
static and dynamic loads up to 8,000 lb-ft of
torque, even in the harshest of environments.
19
FEATURES
Gear Train Manual Handwheel
Proven Durability Convenient Local Operation
Beck Group 22 drives utilize a high- A manual Handwheel (and Handcrank
efficiency gear train designed for long life and on model 22-809 drives) is standard on all
minimal wear. The precision-cut spur gears Group 22 models for use during installation
are fabricated from heat-treated alloy steel and testing, or during power outages. This
and ductile iron. Handwheel does not require a declutch
mechanism for operation and turns at a safe,
Self-Locking Mechanism (SLM) slow speed.
Back-driving Protection
A Self-Locking Mechanism is an integral Adjustable Crank Arm
part of the Group 22 drive system. The SLM Easy Installation and Set up
is a coupling that transmits motor torque For ease of installation on any
to the gear train in either direction, but application, the Group 22 crank arm can be
instantly locks in place when the motor is de- easily positioned to start anywhere in the full
energized; thus preventing back-driving by 360° rotation of the output shaft. To further
dynamic loads. facilitate proper installation and set up, the
crank arm radius is easily adjustable through
a wide range of values.
DIGITAL CONTROL
MODULE (DCM)
MOTOR HANDSWITCH
HANDWHEEL
CONTACTLESS POSITION
SENSOR (CPS)
DAMPER
ROTARY
DRIVES
coast or overshoot and will not overheat—
even under continuous modulation.
Handswitch
Complete Local Control
The Group 22 is equipped with an
electrical override Handswitch to aid in set
up and installation. It provides local control Model 22-809 (Rear view)
of the drive independent of external control
signals.
Auxiliary Switches
Easily Adjustable Trip Points
All Group 22 drives include two non-
dedicated SPDT switches, which are
cam-actuated directly by the output shaft.
Wiring connections are provided in the drive
terminal compartment, allowing for easy
access. The switch trip points are easily
adjusted in the field to operate at any point in
the drive travel rotation.
22
SPECIFICATIONS
General Specifications
Output Torque and Timing
22-309—3,000 lb-ft, 30–300 (configurable) sec./100°
22-409—4,000 lb-ft, 15–300 (configurable) sec./100°
22-809—8,000 lb-ft, 15–300 (configurable) sec./100°
Actuator Power
22-309—120 or 240 V ac, single-phase, 50 or 60 Hz, 6 A max. (208, 380, 416, 480 or 575 V ac with optional transformer)
22-409—208 V ac, three-phase, 50 or 60 Hz, 4 A max. (240, 380, 416, 480 or 575 V ac with optional transformer)
22-809—208, 240, 380, 416, 480 or 575 V ac, three-phase, 50 or 60 Hz, 2.5 kV A
Weight
22-309, 22-409—490 lbs; 22-809—1,250 lbs
DAMPER
ROTARY
DRIVES
Operating Conditions
–40° to 85° C. (–40° to 185° F.); 0 to 99% relative humidity
Demand Input Signal Range
4–20 mA, 1–5 V dc
Communication Protocol
HART® Foundation technology. Contact a Beck Sales Engineer for details.
Minimum Step
0.1° typical
Linearity
±1% of span, max. independent error
Hysteresis
0.25% of span at any point
Demand Input Signal Characterization
Linear: Actuator output shaft moves proportionally to the input signal.
Square: Actuator output shaft moves proportionally to the square of the input signal.
Position Feedback Signal
4–20 mA
Isolation
Demand input and position Feedback signals are isolated from ground and the ac power line.
Signal buffering provides 24 V dc isolation between the Demand and Feedback signals.
Overtorque Protection
If drive output torque exceeds 115% of drive rating, the motor will shut off (feature can be enabled / disabled).
Action on Loss of Input Signal (Power On)
Stays in place or runs to any preset position (configurable).
Stall Protection
If the motor tries to run in one direction for more than 300 seconds (configurable from 30 to 300
seconds), the motor will shut off.
Over-travel Protection Switches (Dedicated)
Two Form C, one for CW and one for CCW limit of output shaft travel. Standard switch setting allows
for 100° of travel.
Auxiliary Switches (Non-dedicated)
Two Form C, rated for 1 A, 250 V ac—cam operated and field adjustable.
Handswitch
Permits local electrical operation, independent of Demand input signal.
Handwheel (and Handcrank on the 22-809)
Provides manual operation without electrical power.
Enclosure
Precision-machined, aluminum alloy castings painted with corrosion-resistant polyurethane paint provide a
rugged, dust-tight, weatherproof enclosure. NEMA 4X; IP65.
Standards*
UL Listed
*For standards not specifically listed, please call Beck for more information at 215-968-4600.
Mounting Orientation
Upright, as depicted in outline dimension drawings on pages 24–25.
23
SPECIFICATIONS
Models 22-309, 22-409 Outline Dimension Drawings
HANDSWITCH
HART®
COMMUNICATION
PORT
27 7/16
COVER, POSITION
SENSING DEVICES
21°
1 1/2
3 5/16
1” DIA. THRU
3 13/16 COVER, TERMINAL BLOCKS
17 (4) PLACES
EXTERNAL WIRING
5 5/8 16 1/16
9”–15”
1” N.P.T. CONDUIT
INPUT AND FEEDBACK
SIGNALS 5 3/8
#10 GROUND SCREW
CRANK PIN BOLTS (3) ROD END NUT
AND
CRANK PIN 1 1/2-12 UNF x
21 15/16 2 5/8 DEEP
Crank Arm
13 3/8
10
8
5 1/8
Beck
15/16 5/16 Control Output
1” N.P.T. CONDUIT
9
AUXILIARY SWITCHES Drive Torque Timing Net Wt Shaft
AND ALARMS
10 7/8 Model (lb-ft) (sec/100°) (lb) Dia. (in)
4 1/4
1” N.P.T. CONDUIT
22-309 3,000 30–300 490 3 1/2
7 17 7/8 INPUT POWER
ALLOW 5” FOR REMOVAL 22-409 4,000 15–300 490 3 1/2
18 11/16
ALLOW 5” FOR REMOVAL
Crankarm Maximum
Side View Control Crankarm Overhung
Crankarm Radius Load
All dimensions are in inches, metric dimensions available on request.
All dimensions are subject to change. Request certified dimensional Part Number (Adjustable) (lb)
drawings for the drives you select. 14-8022-02 9"–15" 15,000
24
Model 22-809 Outline Dimension Drawings
19 1/4
COVER, ELECTRONICS
COMPARTMENT
3/4
1 1/2
HANDSWITCH
DAMPER
ROTARY
DRIVES
32 11/16
HART®
COMMUNICATION
PORT
32°
1 1/2
Front View
DATA PLATE
2 3/16
Crank Arm
1” N.P.T. CONDUIT
INPUT AND FEEDBACK
SIGNALS
#10 GROUND SCREW
Beck
21 15/16 Control Output
Drive Torque Timing Net Wt Shaft
13 3/8
Model (lb-ft) (sec/100°) (lb) Dia. (in)
10
8 22-809 8,000 15–300 1,250 4 3/4
5 1/8
Crankarm Maximum
15/16 5/16
1” N.P.T. CONDUIT Control Crankarm Overhung
9
AUXILIARY SWITCHES
10 7/8
AND ALARMS Crankarm Radius Load
4 1/4 Part Number (Adjustable) (lb)
17 7/8 1” N.P.T. CONDUIT
7
ALLOW 5” FOR REMOVAL INPUT POWER 14-8022-21 10"–15" 30,000
18 11/16
ALLOW 5” FOR REMOVAL All dimensions are in inches, metric dimensions available on request.
All dimensions are subject to change. Request certified dimensional
drawings for the drives you select.
Side View
25
26
GROUP 42 LONG STROKE
LINEAR ACTUATORS
Engineered for precise control of applications requiring up to 18 inches of
linear stroke.
INTRODUCTION
Designed for long linear stroke Ideally suited for harsh industrial
applications, the Group 42 offers simplicity, environments, the Group 42 handles long
flexibility and an easy-to-use package. stroke applications requiring up to 1,000
Ideally suited for burner air register type lbs. of thrust. The design employs a highly
applications, the Group 42 is flexible and efficient ball screw coupled with a time-
can be used on many long linear stroke proven Beck motor and offers consistent,
LONG STROKE
ACTUATORS
applications. repeatable positioning as precise as 0.1%
LINEAR
The Group 42 is available with digital of span. Like all Beck drives, the Group 42
modulating control utilizing the Beck incorporates a heavy-duty, weather-proof,
Digital Control Module (DCM) allowing all cast aluminum body.
the advanced features, such as HART®
capability, offered by microprocessor-based
electronics.
The Group 42 is also available with
modulating analog control or direct AC
control.
27
FEATURES
Gear Train Manual Operation
Performance and Durability Convenient Local Operation
The Group 42 drive train is designed The Group 42 actuator can be manually
for high-efficiency, consistent performance operated, without power, by a Handwheel
and durability. Typical linear electric drives directly connected to the drive motor shaft.
employ less efficient technologies such This allows positioning of the driven load in
as worm gears and screws, which can be the absence of AC power.
subject to wear and inconsistent positioning
performance. In contrast, the highly efficient Clevis Mounting
Group 42 drive train consists of spur Easy Installation and Set up
gears coupled to a ball screw. This design The Group 42 utilizes a clevis style
improves performance and reliability and mounting that is both rugged and simple
reduces maintenance requirements. to use. The clevis mounting provides the
flexibility to easily adapt the actuator to most
Self-Locking Mechanism (SLM) applications.
Back-driving Protection
A self-locking mechanism is an integral Weatherproof Design
part of the Group 42 drive system. The
The Group 42 is designed to meet NEMA
SLM is a coupling that transmits motor
4X requirements. The heavy aluminum
torque to the drive train, but instantly locks
body casting provides superior durability and
in place when the motor is de-energized;
corrosion resistance.
this prevents back-driving resulting from a
dynamic load.
REAR MOUNTING
CLEVIS
ACTUATOR HOUSING
HANDSWITCH
HANDWHEEL
OUTPUT SHAFT CLEVIS MOTOR
LONG STROKE
ACTUATORS
Complete Local Control protection.
LINEAR
The Group 42 is equipped with an override • Two-way digital communications via HART
manual Handswitch to aid in the setup and protocol.
installation of the actuator independent of • Simple calibration and setup without
external control signals. electrical or mechanical adjustments.
• Actuator diagnostic capabilities.
Auxiliary Switches • Configurable action on loss of demand
Easily Adjustable Trip Points signal.
Up to two optional non-dedicated Form C • Stall protection with configurable stall time
switches are available. These switches are setting.
cam-operated and easily adjusted in the field.
Wiring connections are provided in the actuator • Operating variables including thrust,
terminal compartment to allow easy access. position, and drive temperature are
available via HART.
Control & Operating Features • The ability to restore all actuator calibration
and setup parameters to factory “as-built”
Group 42 actuators are available in several
settings.
different control configurations including:
Control Option 9: 4-20 ma modulating with
a Digital Control Module (DCM), Contactless
Position Sensor (CPS) and thrust
sensing. This version includes both HART
communications capabilities and local setup/
diagnostic interface for simple calibration,
setup and diagnostic capabilities.
42-109
Control Option 7: 4-20 ma modulating with
analog electronics and position feedback.
This version has time-proven analog
electronics on-board for simple, reliable no
frills positioning and feedback of the drive.
Control Option 5: 120 VAC pulsed option.
This version allows direct AC control of the
drive’s motor for either PAT type modulation
or simple multi-position control. 42-107 29
SPECIFICATIONS
General Specifications (Model 42-109)
Output Thrust and Timing
1,000 lbs., 4.2 sec./in.
Stroke Range
5 to 18 inches
Actuator Power
120 V ac, single-phase, 50 or 60 Hz, 1.5 A
240 V ac, single-phase, 50 or 60 Hz, .75 A
Weight
Approx. 75–89 lbs., depending on selected options
Operating Conditions
–40° to 85° C. (–40° to 185° F.); 0 to 99% relative humidity
Available Communication Protocols
May be equipped with HART® or Fieldbus Foundation™ technology. Contact a Beck Sales Engineer for
details and information regarding other options.
Demand Input Signal Range
4–20 mA, 1–5 V dc
Minimum Step
0.1% of span
Demand Input Signal Characterization
Linear: Actuator output shaft moves proportionally to the input signal
Square: Actuator output shaft moves proportionally to the square of the input signal
Custom: 20 segment configurable curve fit
Position Feedback Signal
4–20 mA
Isolation
Demand input and position Feedback signals are isolated from ground and the ac power line.
Signal buffering provides 24 V dc isolation between the Demand and Feedback signals
Action on Loss of Input Signal (Power On)
Stays in place or runs to any preset position (configurable)
Over-thrust Protection
If actuator output thrust exceeds 150% (configurable to 70%) of the drive rating, the motor will shut off
(feature can be enabled / disabled)
Stall Protection
If the motor tries to run in one direction for more than 300 seconds (configurable from 30 to 300
seconds), the motor will shut off
Over-travel Protection Switches (Dedicated)
Two Form C (Retract and Extend) provide over-travel protection
Auxiliary Switches (Non-dedicated)
Two Form C, rated for 1 A, 250 V ac
Handswitch
Permits local electrical operation, independent of Demand input signal
Handwheel
Provides manual operation without electrical power
Approvals
CSA certified for U.S. and Canada
Enclosure
Precision-machined aluminum alloy, painted with corrosion-resistant polyurethane paint,to provide a
rugged, dust-tight, weatherproof enclosure designed to meet NEMA 4X standards
Mounting Orientation
Can be mounted in any orientation
30
General Specifications (Models 42-107 and 42-105)
Output Thrust and Timing
1,000 lbs., 4.2 sec./in.
Stroke Range
5 to 18 inches
Actuator Power
120 V ac, single-phase, 50 or 60 Hz, 1.5 A
Weight
Approx. 64–69 lbs., depending on selected options
Operating Conditions
–40° to 85° C. (–40° to 185° F.); 0 to 99% relative humidity
Control Options
1) Modulating analog control (Option 7); 2) Direct ac control (Option 5)
Demand Input Signal (Option 7)
4–20 mA, 1–5 V dc
LONG STROKE
Deadband
ACTUATORS
1.0% of span
LINEAR
Minimum Step
.25% of span
Position Feedback Signal
4–20 mA, 1–5 V dc
Feedback may be configured as a two wire transmitter or as a four wire active signal source. Two wire systems require
a customer supplied external power supply. Four wire systems require 120 V ac supply to the drive.
Isolation
Demand input and position Feedback signals are isolated from ground and the ac power line.
Signal buffering provides 24 V dc isolation between the Demand and Feedback signals
Action on Loss of Power
Stays in place
Action on Loss of Demand Input Signal (Option 7)
Stays in place or moves to predetermined position with ac power supplied
Stall Protection
If the motor tries to run in one direction for more than approx. 2 minutes, it will shut off
Stall Relay Contacts (Option 7)
Form A, 10 volt-amps at 120 V ac or dc
Action on Stall (Option 7)
Motor power is turned off when relay contacts open (after 136 seconds of stall) -- remote signal available
Over-travel Limit Switches (Dedicated)
Two Form C (Retract and Extend), field adjustable
Auxiliary Switches (Non-dedicated)
Two Form C, rated for 1 A, 250 V ac, field adjustable
Handswitch (Option 7)
Permits local electrical operation, independent of Demand input signal
Handwheel
Provides manual operation without electrical power
Approvals
CSA certified for U.S. and Canada
Enclosure
Precision-machined aluminum alloy, painted with corrosion-resistant polyurethane paint,to provide a
rugged, dust-tight, weatherproof enclosure designed to meet NEMA 4X standards
Mounting Orientation
Can be mounted in any orientation
31
SPECIFICATIONS
Model 42-109 Outline Dimension Drawings
"L" DIMENSION ±1/16
1 1/16"
1” N.P.T. CONDUIT
POWER CONNECTION
5 27/32" 4 9/32"
8 23/32"
1” N.P.T. CONDUIT
SIGNAL CONNECTION 8 7/32"
8 27/32" ALLOW 2 3/4"
FOR REMOVAL
14 1/2"
ALLOW 6"
FOR REMOVAL
2 9/16"
1 9/16"
3 13/32"
4 15/32" 4 31/32"
7 15/16" 8 3/8"
8 1/2"
3 13/16"
8 23/32"
3/4"
6 17/32"
3 11/32"
2 1/4"
LONG STROKE
7 25/32" ALLOW 2 3/4”
ACTUATORS
3/4” N.P.T. CONDUIT FOR REMOVAL
POWER CONNECTION
LINEAR
16”
ALLOW 6”
FOR REMOVAL
SIDE VIEW
3 1/2"
3 7/16" 3 7/16"
.625 ±.010
.625
±.010
2 9/16"
1 15/32"
3 13/32"
4 15/32"
7 15/16"
7 15/16"
INTRODUCTION
Precise, reliable and consistent Group 11 valve actuators are engineered
positioning of control valves is of critical for direct-coupling on quarter-turn ball, plug
importance in maintaining overall process and butterfly valves. They may also be
control. installed using specially engineered crank
Beck’s unique ability to quickly, arm and linkage arrangements.
accurately and consistently track the control Valves and actuators may be ordered
signal allows you to fully utilize your control together as pre-engineered assemblies ready
system’s capabilities. This ability can for drop-in installation; or actuators can be
significantly decrease process variability, supplied separately along with the necessary
improve product quality and reduce operating hardware for field installation on existing
costs. valves.
In thousands of applications around
the world, Beck valve actuators have a
field-proven track record for high reliability,
QUARTER-TURN
ACTUATORS
maintenance free operation and consistent
VALVE
operation over decades of service.
35
FEATURES
Beck Actuator Motor • SPDT switches rated for a minimum of 6 A
Precise, Reliable Control at 120 V ac, (three times maximum motor
Together with Beck’s control electronics current for most models) to ensure long life.
and rugged gear train, Beck motors provide • Field-adjustable to operate at any point in
the precise, reliable positioning required for the drive’s travel range.
modern control loops. • May initiate secondary functions or provide
• Never overheats or burns out, even under remote indication of drive position.
demanding modulating control or stalled • Eliminates unreliable and maintenance-
conditions. intensive proximity switches.
• Reaches full speed and torque in less Actuator Train
than 50 milliseconds and stops within 25 Power and Durability to
milliseconds, eliminating deadtime. Maximize Control Availability
• Provides extremely accurate positioning in Beck’s durable gear train maintains
modulating applications. accurate, consistent control element
• Will not coast or overshoot desired position. positioning even under the demanding
• Low current draw of 0.16 A conditions of an active control loop.
to 3.0 A, therefore low power POSITION SENSING HANDWHEEL
consumption, eliminates the DEVICE (CPS)
need for relays and permits MOTOR
the use of uninterruptible
power supplies.
• Maintenance-free with
double-lipped, grease-
sealed bearings.
Electric Handswitch
Time-Saving Local Operation
Dampers or valves may
be operated at their individual
locations with the built-in
AUXILIARY
electric Handswitch. This SWITCHES
saves time during installation WIRING TERMINAL
and troubleshooting, allowing BOARD
on-line adjustments to be DIGITAL CONTROL
made quickly and easily by MODULE (DCM)
bypassing the electronics in
the drive and control system.
The Handswitch also VALVE MOUNTING
serves as an electrical backup
in the event of control system
failure.
QUARTER-TURN
ACTUATORS
easily under full load conditions.
Factory-Mounted Assemblies
VALVE
• Mechanical stops in housing prevent
manual overtravel. Beck will supply Group 11 drives
mounted to valves using a pre-engineered
• The motor operates at 72 or 120 RPM, so
coupling or linkage arrangement. These
the Handwheel poses no safety hazard.
unitized assemblies are fully tested and
Housing ready for simple drop-in installation.
Superior Protection and Convenient
Crank Arm / Linkage Configurations
Access to Components
Valve / drive assemblies may be
Beck drives feature a cast aluminum
specified with crank arm and linkage
body with individual compartments to
mounting arrangement. This design allows
protect components from moisture and dirt,
100º drive travel, thus providing variable
and allow easy access for installation and
torque distribution and increased seating
calibration.
effectiveness.
• Precision-machined aluminum alloy castings
• With linkage characterization, high seating
with corrosion-resistant poly-urethane paint
torques can be obtained for certain valve
provide a rugged, dust-tight, weatherproof
types.
NEMA 4X enclosure. Models approved
for use in Hazardous classified locations • Standard bracket and linkage mounting
are available—contact a Beck Sales or hardware is available for most popular
Application Engineer for details. valve types.
• Individual compartments protect all major • Custom mountings are easily handled
components: Motor, DCM, CPS, gear train allowing Beck drives to be economically
and installation wiring terminal board. mounted to virtually any rotary valve.
• Each compartment can be accessed • Link-Assist™ computer program helps
without exposing other components. you specify the ideal arrangement for your
application (see Appendix).
37
SPECIFICATIONS
Use the charts on this page to create a full TORQUE, TIMING & MOTOR CURRENTS
specification model number. Basic Torque Timing4 Motor1,2,3
First, select the basic model no. from the Model No. (lb-ft) (sec./90°) Current (A)
chart at right (blue column) and enter the first four 15 10 0.32
digits in the blue "Model No." field below. Now 20 18 0.17
40 18 0.32
select the control option that suits the application 11-160 40 36 0.17
requirements using the information in the chart at 60 54 0.17
the bottom of the page (brown column). Enter the 80 36 0.32
control option designation number (3 through 9) in 80 81 0.17
the brown area of the "Model No." field below. 125 18 0.56
125 36 0.35
The next step is to determine the required
11-260 175 54 0.35
torque for the application as well as select the 250 36 0.56
full stroke time in seconds as shown in the chart 250 68 0.35
at right (green and yellow columns). Enter the 300 36 0.56
selected torque option in the green "Torque" 300 90 0.35
field and the selected timing option in the yellow 11-360 400 54 0.56
"Timing" field below. 550 68 0.56
650 90 0.56
Finally, select the number of auxiliary switches 350 22 1.30
desired (0, 2 or 4) and enter that number in the 550 36 1.30
purple "Aux. Switches" field below. 650 22 2.20
The full specification model number is 800 54 1.30
1000 22 3.00
complete and can be used to specify a Beck drive. 11-460
1000 36 2.20
For example, 11–469–1000–36–2 denotes an 1000 68 1.30
11-460 basic model for modulating control (option 1500 90 1.30
9 Digital Control Module) that is rated for 1,000 1800 32 3.00
lb-ft torque output with a full stroke time of 36 1800 54 2.20
sec/90°. It is equipped with two auxiliary form C
switches.
0 = Standard
2 or 4 = Optional6
CONTROL OPTION CHART6
Control Control Control Std. Control Position Std. Position
Option Mode Board Input Sensor Feedback
9 Modulating DCM-2* 4–20 mA CPS-2 4–20 mA
8 Modulating ESR-4 4–20 mA CPS-2 4–20 mA
7 Modulating ESR-4 4–20 mA Film Pot. None
6 Modulating None 120 V ac CPS-2 4–20 mA
5 Modulating None 120 V ac Film Pot. Film Pot.
4 5-Position None 120 V ac None None
4 3-Position None 120 V ac None None
2-Position
3 None 120 V ac None None
(Open/Close)
1 Unique Beck motor design has starting & stall current that approximate running current, so thermal overload protection is not required--just provide
normal short-circuit protection.
2 Motor currents shown are 60 Hz -- 50 Hz currents do not exceed 120% of 60 Hz levels.
3 Actuator current @ 240 V ac is approx. 1/2 the 120 V ac current (motor current does not change @ 240 V ac).
4 Stroke timings shown are based on 60 Hz power; 50 Hz power provides timings 20% greater.
5 2 or 4 auxiliary switches are available for most Group 11 actuators. Contact the factory regarding switch availability on control option 4 models.
Standard travel limit switches have extra contacts which can be used for external signaling on 2-, 3- or 5-position control modes.
6 Contact the factory if the signal options listed do not meet your requirements.
* Smart Digital Control Module with std. HART communication capabilities (Foundation Fieldbus is available as an extra cost option).
38
General Specifications
Input Power
120 V ac, single-phase 50 or 60 Hz
240 V ac, single-phase 50 or 60 Hz
Operating Conditions
–40º to 185ºF (–40º to 85ºC)
Isolation
Demand Input and Position Feedback signals are isolated from the ground and the ac power line.
Action on Loss of Power
Stays in place.
Control Types
Modulating with Digital Control Module (DCM)
Modulating with analog electronics (ESR)
Modulating direct ac motor control
3,5 or 6 position control
2 position (open/close) control
Input and Feedback Signals
Depends upon the drive control option. See page 38.
Available Communication Protocols
Option 9 drives (see page 38) may be equipped with HART® or Fieldbus Foundation™ technology.
Contact a Beck Sales Engineer for details and information regarding other options.
Minimum Step Size (Modulating Control)
DCM -- 0.10% (0.15% typical) (configurable)
QUARTER-TURN
ESR -- 0.10% (0.15% typical)
ACTUATORS
Direct AC -- 0.1° (function of control system capabilities)
VALVE
Stall Protection (protects drive and driven elements under stall conditions)
DCM -- Time to stall is configurable from 30 to 300 seconds.
Other control types -- Optional Stall Protection Module is available.
Action on Loss of Input Signal (Power On)
Stays in place or, with some options, is field configurable to move to any preset position.
Overtravel Limit Switches (Dedicated)
Two Form C switches provide overtravel protection.
Auxiliary Switches (Non-Dedicated)
Up to four 6A, 120 V ac switches available. Switches are cam-operated and field-adjustable.
Handswitch
Permits local electrical operation independent of the controller signal. Standard on all units. An
optional auxiliary contact can be used to indicate that the Handswitch is in "AUTO" mode or to sound
an alarm if it is taken out of "AUTO". A locking Handswitch is also available.
Enclosure
Precision-machined, aluminum alloy castings painted with corrosion-resistant polyurethane paint
provide a rugged, dust-tight, weatherproof enclosure. NEMA 4X; IP68, 3 meters/48 hours*.
*Internal water damage is not covered by warranty.
Standards**
UL Listed; CSA Listed; CE Compliant
**For standards not specifically listed, please call Beck for more information at 215-968-4600.
Hazardous Locations***
Class I, Div. 2, Groups C & D; Class II, Div. 2, Groups F & G.
***If these ratings do not meet your requirements, call Beck at 215-968-4600.
Mounting Orientation
Any orientation—no limitations.
39
SPECIFICATIONS
Model 11-160 Outline Dimension Drawings
40
Model 11-260 Outline Dimension Drawings
QUARTER-TURN
ACTUATORS
VALVE
42
Model 11-460 Outline Dimension Drawings
QUARTER-TURN
ACTUATORS
VALVE
INTRODUCTION
The Group 31 actuator is designed
for coupling to small quarter-turn ball and
butterfly valves.
Its compact in-line design consists of
an output section housing the drive train
and motor, and a control module section
containing the electronics. Together, these
two sections provide an enclosure designed
to meet NEMA 4 specifications for protection
against corrosion, dust and moisture. A
design that meets NEMA 7 specifications is
also available.
QUARTER-TURN
ACTUATORS
VALVE
The Group 31 incorporates the same
type of motor used in Beck’s Group 11
and Group 14 drives, which provides
millisecond response to signal commands in
a modulating control loop. This no-burnout,
non-coasting motor is capable of more
than 60 starts per minute during process
upsets and will remain cool and stable
during operation for unparalleled on-line
performance.
45
FEATURES
Motor and Drive Train the zero adjustable up to 120% of span,
Unequaled Availability providing flexibility for split range operation.
Beck’s Group 31 rotary actuators
incorporate an exclusive no-burnout motor, Limit & Auxiliary Switches
so that on-line dependability of valves Four cam-operated switches are included
is ensured. Heat-treated alloy steel and as part of the control module. Two switches
ductile iron hypocycloidal gearing transmits open the motor circuit and function as end-
torque smoothly and powerfully to the output of-travel limit switches, and two auxiliary
shaft. The Beck-built control motor provides switches are for external signaling as
millisecond response to signal commands in required by the user. The switch cams are
a modulating control loop—eliminating the driven directly by the actuator’s output shaft
coasting and overshooting problems typical for accurate control.
of outdated electric actuators.
ELECTRONIC WIRING
The motor stator of the Group 31 actuator CONTROL TERMINAL
is molded into the centerpiece, providing MODULE BOARD
stable delivery of torque without overheating
and without burning out. POSITION SENSING
AND
FEEDBACK DEVICE
Mechanical Stops TRAVEL LIMIT
Protection from Overtravel Damage AND
AUXILIARY
Rugged mechanical stops are furnished SWITCHES
as a standard component of the valve MANUAL
mounting assembly. These stops prevent HANDWHEEL
over-travel damage to valves and limit drive
travel during manual cycling to maintain
proper orientation of the drive output shaft
with respect to switches and controls. A built-
in position indicator shows the valve position. GEAR TRAIN
AND
QUARTER-TURN
position indication. Direct AC models allow Direct-Coupled Configurations
ACTUATORS
controllers to monitor drive position as the
VALVE
The Group 31 actuator may be coupled
controller output directly positions the drive. directly to the valve by the use of a factory
Analog control modulating models provide machined, heat-treated coupling. This
electronic signal receiver circuitry, which configuration is compact in design. A factory
compares the position indication to the designed yoke between the actuator and the
control loop demand signal and provides valve provides rigidity and accessibility to
automatic control. mounting hardware.
Input Power
120 V ac, single-phase 50 or 60 Hz, 0.5 amp, 60 watts
Operating Conditions
–40º to 150ºF (–40º to 65ºC)
Control Types
Milliamp modulating (Control Option 3)—Differences between the Feedback signal and Input signal are
amplified, activating the electronic output switch necessary to drive the motor in the proper direction to
force the signal differential to zero.
120 V ac contact closure (Control Options 1 & 2)—Motor is energized by 120 V ac line current from a
remote controller or manual switches.
Deadband
1.0% of Span
Sensitivity
.2% of Span
Enclosure
Precision machined aluminum alloy castings, painted with corrosion resistant polyurethane paint. All
units meet Enclosure Type 4 specifications.
Timing
Model Control Control Input Feedback Auxiliary Torque (sec./90°)
Number Option Mode Signal Signal Switches (lb-ft) 60 Hz1
31-M30 Modulating 4–20 mA 4–20 mA 15 18
3 2
31-M50 (Analog Position Control) 1–5 V dc 1–5 V dc 30 24
31-330 Modulating 4–20 mA 15 18
2 120 V ac 2
31-350 (Direct AC Control) 1–5 V dc 30 24
31-230 15 18
1 Open / Close Operation 120 V ac None 2
31-250 30 24
1
50 Hz timing data does not exceed 120% of 60 Hz levels.
Maximum drive current is 0.5 A.
48
Group 31 Outline Dimension Drawings
Basic Actuator Mounting Option A Mounting Option B
Yoke Mounting with Bracket mounting with
coupling connection and crank arm assembly and
7 1/16 mechanical stop mechanical stop
CLEARANCE REQUIRED
FOR COVER REMOVAL
6 1/2
4
*9/16
*3 1/4 C
L LINKAGE
(NOT INCLUDED)
2 7/16
5 1/8
4 7/8
14 29/32 4 5/16
31/32 REF.
1 7/8
3 3/4 OPEN 3 15/32 REF.
CLOSED
OPEN
3 15/32 REF.
6 45/64
6
/1
CLOSED
11
5
1 3/8
1 1/2*
1 5/32 3*
2 1/32 4 5/16 5/16-24 THREAD 2 1/4
QUARTER-TURN
REF. x 3/4 DEEP
ACTUATORS
4 1/2
CRANK ARM RADIUS
.75 DIA. ADJUSTABLE
VALVE
1 1/2" - 5 1/8" *11/32 DIA. HOLE
BOLT HOLE PATTERN AND SHAFT THRU TYP. (4) PLACES
THROUGH HOLE DIMENSION MUST (FOR 5/16 BOLTS)
MOUNTING HOLES BE SPECIFIED PER APPLICATION
3/8-16 UNC-2B x 7/8 *STANDARD BRACKET CAN BE SUPPLIED
DEEP, TYP. 3 PLACES WITHOUT HOLES OR HOLE PATTERN SHOWN.
HOLES EQUALLY SPACED
ON 3 3/8 B.C. Mounting Option C Mounting Option D
ALLOW ACCESS SPACE FOR
CONTROL CALIBRATION Basic actuator with Basic actuator with
crank arm assembly and mechanical stop
mechanical stop
3 3/16
17
17
1
2 7/16
HANDWHEEL
3 15/32 3
CL LINKAGE
(NOT INCLUDED) USE 5/16 MAX. MATERIAL THICKNESS
FOR CUSTOMER SUPPLIED MOUNTING
BRACKET. 1 1/8 DIA. CLEARANCE HOLE
USE 5/16 MAX. MATERIAL THICKNESS REQUIRED FOR DRIVE SHAFT.
FOR CUSTOMER SUPPLIED
MOUNTING BRACKET. 1 1/8 DIA.
CLEARANCE HOLE REQUIRED FOR
DRIVE SHAFT.
Mechanical Specifications
Beck Actuator Model Approx. Weight (lbs.) Max. Overhung Load (lbs.)
Group 31 36 500
Actuators may be mounted in any orientation.
All dimensions are in inches; metric dimensions available upon request.
All dimensions are subject to change. Request certified drawings for the actuators you select.
49
50
GROUP 14 LINEAR
VALVE ACTUATORS
Precise, responsive modulation and tight shutoff for exceptional performance
in globe valve applications.
INTRODUCTION
Group 14 actuators are ideal for steam
flow control, combustion control and any
other application which requires more precise
valve position control or faster response than
pneumatic or electric actuators can deliver.
Valves and actuators may be ordered
together as factory-mounted assemblies,
ready for drop-in installation, or actuators
can be supplied separately along with the
necessary hardware for field installation on
existing valves.
ACTUATORS
LINEAR
VALVE
51
FEATURES
Beck Actuator Motor Drive Train
Precise, Reliable Control Power and Durability to
Together with Beck’s control electronics Maximize Control Availability
and rugged gear train, Beck motors provide Beck’s durable gear train maintains
the precise, reliable positioning required for accurate, consistent control element
modern control loops. positioning even under the demanding
• Never overheats or burns out, even under conditions of an active control loop.
demanding modulating control or stalled • Gear trains use an all spur gear construction
conditions. of heat-treated alloy steels and ductile iron.
• Reaches full speed and torque in less • Efficient, wide-face spur gearing essentially
than 50 milliseconds and stops within 25 eliminates wear-induced backlash and
milliseconds, eliminating deadtime. positioning inaccuracies.
• Provides extremely accurate positioning in
POSITION SENSING
modulating applications. SWITCHES
DEVICE (CPS)
• Will not coast or overshoot the desired
position.
• Low current draw of 0.33 A to 1.5 A,
and therefore low power consumption,
eliminates the need for relays and permits
the use of uninterruptible power supplies. GEAR TRAIN AND
MOTOR HOUSING
Electric Handswitch
Time-Saving Local Operation
Valves may be operated at their individual
locations with the built-in electric Handswitch.
This saves time during installation and
troubleshooting, allowing on-line adjustments
to be made quickly and easily by bypassing
the electronics in the drive and control system.
The Handswitch also serves as an
electrical backup in the event of control
DIGITAL CONTROL
system failure.
MODULE (DCM)
Auxiliary and Over-travel AND
ACTUATORS
LINEAR
VALVE
• Each compartment can be accessed
without exposing other components.
• Gasketed, precision-machined covers
provide extra protection for harsh indoor
and outdoor environments.
• Output and Handwheel shafts are also
sealed with weatherproof, double-lip seals.
Mounting Versatility
Factory Mounted Assemblies
Beck Actuators can be Mounted in any
Orientation for Greater Installation Beck will supply Group 14 actuators
Flexibility mounted to valves, fully tested and ready for
simple drop in installation.
Beck drives are configured and lubricated
Group 14 actuators are generally
in such a way that they may be mounted in
furnished with a standard cast yoke for globe
any convenient position. This flexibility allows
valves with boss sizes up to 3 3/4”. When the
drives to be installed in hard-to-fit locations.
Group 14 actuator is installed on valves with
Tight-Seater™ boss sizes exceeding 3 3/4”, special yokes
The unique Tight-Seater™ coupling are built to provide sturdy, deformation-free
incorporated into every unit provides positive assemblies.
53
SPECIFICATIONS
General Specifications
Input Power Minimum Step (Modulating Control)
120 V ac, single-phase 50 or 60 Hz DCM -- 0.10%, 0.15% typical (configurable)
240 V ac, single-phase 50 or 60 Hz ESR -- 0.10%, 0.15% typical
Operating Conditions Direct AC -- 0.1° (function of control system
–40º to 185ºF (–40º to 85ºC) capabilities)
Isolation Stall Protection (protects drive and driven
Demand Input and Position Feedback signals are elements under stall conditions)
isolated from the ground and ac power line. DCM -- Time to stall is configurable from 30 to 300
Action on Loss of Power seconds.
Stays in place. Other control types -- Optional Stall Protection Module
is available.
Control Types
Modulating (DCM) digital control Action on Loss of Input Signal (Power On)
Modulating (ESR) analog control Stays in place or, with some options, is field
Modulating direct ac control configurable to move to any preset position.
3,5 or 6 position control Over-travel Limit Switches (Dedicated)
2 position (open/close) control Two Form C switches (one for each direction of
Input and Feedback Signals travel).
Depends upon the control option (see below) Auxiliary Switches (Non-dedicated)
Available Communication Protocols Up to four 6A, 120 V ac switches available. Switches
Option 9 drives may be equipped with HART® or are cam-operated, field-adjustable.
Fieldbus Foundation™ technology. Contact a Handswitch
Beck Sales Engineer for details and information Permits local electrical operation independent of the
regarding other options. controller signal. Standard on all units. An optional
auxiliary contact can be used to indicate that the
Handswitch is in "AUTO" mode or to sound an alarm if
it is taken out of "AUTO". A locking Handswitch is also
available.
Use the charts on this page to create a full specification model number. CONTROL OPTION CHART
Basic Thrust Timing4 Motor1,2,3
Model No. (lbs) (sec./in.) Current (A)
340 4 0.56
First, select the basic model no. from the chart at right (blue column) and 425 11 0.37
enter the first four digits in the blue "Model No." field below. Now select the 600 16 0.37
650 8 0.56
control option that suits the application requirements using the information in 14-100 800 11 0.56
1000 27 0.37
the chart at the bottom of the page (brown column). Enter the control option 1100 16 0.56
designation number (3 through 9) in the brown area of the "Model No." field 1620 48 0.37
1800 27 0.56
below. 14-200
2700 16 1.50
4000 24 1.50
The next step is to determine the required
thrust for the application as well as select the Model No. Thrust Timing Aux. Switches
___ ___ ___
___ ___ ___ ___ ___ ___ ___ ___ ___ ___ ___
full stroke time in seconds as shown in the
chart at right (green and yellow columns). 0 = Standard
2 or 4 = Optional5
Enter the selected thrust option in the green CONTROL OPTION CHART6
"Thrust" field and the selected timing option in Control Control Control Std. Control Position Std. Position
Option Mode Board Input Sensor Feedback
the yellow "Timing" field below. 9 Modulating DCM-2* 4–20 mA CPS-2 4–20 mA
8 Modulating ESR-4 4–20 mA CPS-2 4–20 mA
Finally, select the number of auxiliary 7 Modulating ESR-4 4–20 mA Film Pot. None
switches desired (0, 2 or 4) and enter that 6 Modulating None 120 V ac CPS-2 4–20 mA
5 Modulating None 120 V ac Film Pot. Film Pot.
number in the purple "Aux. Switches" field 4 5-Position None 120 V ac None None
4 3-Position None 120 V ac None None
below. 2-Position
3 None 120 V ac None None
(Open/Close)
The full specification model number is 1 Unique Beck motor design has starting & stall current that approximate running current, so thermal
complete and can be used to specify a Beck overload protection is not required--just provide normal short-circuit protection.
drive. 2 Motor currents shown are 60 Hz -- 50 Hz currents do not exceed 120% of 60 Hz levels.
3 Actuator current @ 240 V ac is approx. 1/2 the 120 V ac current (motor current does not change @
For example, 14–109–1000–27–2 denotes 240 V ac).
4 Stroke timings shown are based on 60 Hz power; 50 Hz power provides timings 20% greater.
a 14-100 basic model for modulating control 5 2 or 4 auxiliary switches are available for most Group 14 actuators. Contact the factory regarding
(option 9 Digital Control Module) that is rated switch availability on control option 4 models. Standard travel limit switches have extra contacts
which can be used for external signaling on 2-, 3- or 5-position control modes.
for 1,000 lbs thrust output with a full stroke time 6 Contact the factory if the signal options listed do not meet your requirements.
of 27 sec/in. It is equipped with two auxiliary * Smart Digital Control Module with std. HART communication capabilities (Foundation Fieldbus is
form C switches. available as an extra cost option).
54
Group 14 Outline Dimension Drawings (5/16” to 2 1/8” travel shown)
MODEL 14-100
MODEL 14-200
ACTUATORS
LINEAR
VALVE
Mechanical Specifications
Beck Actuator Shaft "A" Valve "B" 1 "C" 2 Max. Valve Stem Approx.
Actuator Travel Range Boss Dia. Yoke Height Nominal Actuator Extension (Valve Weight
Model No. (in.) Range (in.) (in.) Shaft Extension (in.) Stem Retracted) (in.) (lbs.)
14-100 5/16 - 1 3/4 1 - 2 5/8 8 4 3/16 5 1/2 80
3/4 - 2 1/8 1 3/8 - 3 3/4 13 1/2 6 9 1/4 92
3/4 - 4 1/2 2 3/8 - 3 3/4 19 13/16 12 5/16 9 1/4 100
14-200 5/16 - 2 1/8 1 3/8 - 3 3/4 13 1/2 6 9 1/4 105
3/4 - 4 1/2 1 3/8 - 3 3/4 19 13/16 12 5/16 9 1/4 113
1 Yoke height "B" is measured from the valve bonnet match line to Actuators may be mounted in any orientation.
the face of the actuator body. This dimension includes the yoke
All dimensions are in inches; metric dimensions available
extension added to actuators with strokes greater than 2 1/8".
upon request.
2 Nominal actuator shaft extension "C" is measured from the
All dimensions are subject to change. Request certified
bottom of the Tight-Seater™ coupling to the top of the yoke and
dimensional drawings for the actuators you select.
does not include the yoke extension.
55
56
GROUP 29 LINEAR
VALVE ACTUATORS
A unique design and advanced electronics ensure precise, reliable control of
all types of modulating globe valves—even in hazardous locations.
INTRODUCTION
Ideally suited for process control Valves and actuators may be ordered
applications in even the harshest together as factory-mounted assemblies,
environments, the Group 29 handles valve ready for drop-in installation, or actuators
thrust requirements up to 2,700 lbs. and is can be supplied separately along with the
easily mounted on most valves. A ball screw necessary hardware for field installation on
design combined with a new drive control existing valves.
algorithm and the traditional Beck motor
design ensure repeatable modulation as
precise as 0.1% of span. The Group 29 is
designed for simple installation on almost
any globe valve. The design incorporates
a rugged, weatherproof body rated for
hazardous locations to ensure safe operation
in almost any plant environment.
ACTUATORS
LINEAR
VALVE
57
FEATURES
Beck Actuator Motor Auxiliary Switches
The Group 29 utilizes a low current draw, Two non-dedicated Form C and Form A
continuous duty motor design. The drive's switches are standard. These switches are
onboard control electronics (DCM) directly cam-operated and easily adjusted in the field.
feed the motor windings, thus eliminating Wiring connections are provided in the drive
external motor starters and controls terminal compartment to allow easy access.
completely. In addition, the motor will not
coast or overshoot and will not overheat— Gear Train
even under continuous modulation. The Group 29 utilizes a high efficiency
gear train designed for high performance,
Electric Handswitch long life and minimum wear. It consists of a
Similar to all Beck drives, the Group combination of precision-cut alloy steel and
29 is equipped with an electrical override ductile iron spur gears and a precision ball
Handswitch to aid in setup and installation screw.
of the drive independent of external control
signals.
ADJUSTABLE
MECHANICAL STOP OVER-TRAVEL
LIMIT SWITCHES
POSITION SENSING
DEVICE (CPS)
DIGITAL CONTROL
MODULE (DCM)
HANDSWITCH
MOTOR HOUSING
HART®
COMMUNICATION PORT
HANDWHEEL
ACTUATORS
a Beck Sales or Application Engineer for
LINEAR
VALVE
details.
• Gasketed covers provide extra protection
for harsh environments.
• Output and Handwheel shafts are sealed
with weatherproof, double-lip seals.
Mounting Versatility
Beck actuators are configured and
lubricated in such a way that they may be
mounted in any convenient position. This
flexibility allows actuators to be installed in
hard-to-fit locations.
As long as housing compartments remain
accessible, there are no mounting orientation
restrictions.
59
SPECIFICATIONS
General Specifications
Output Thrust and Timing
29-100—1,000 lbs., 10 sec/in
29-250—1,700 lbs., 10 sec/in; 2,100 lbs., 12.39 sec/in; 2,700 lbs., 15 sec/in
Input Power
120 V ac, single-phase 50 or 60 Hz
240 V ac, single-phase 50 or 60 Hz
Operating Conditions
–40º to 185ºF (–40º to 85ºC)
Isolation
Demand Input and Position Feedback signals are isolated from the ground and the ac power line.
Action on Loss of Power
Stays in place.
Control Types
Modulating with Digital Control Module (DCM)
2 position (open/close) control
Input and Feedback Signals
4–20 mA, 1–5 V dc (Option 9 drives only)
Available Communication Protocols
Option 9 drives may be equipped with HART® or Fieldbus Foundation™ technology. Contact a Beck Sales
Engineer for details and information regarding other options.
Minimum Step (Modulating Control)
0.10%, 0.15% typical (configurable)
Stall Protection (protects drive and driven elements under stall conditions)
Time to stall is configurable from 30 to 300 seconds (option 9 drives).
Action on Loss of Input Signal (Power On)
Stays in place or, with option 9 drives, is field configurable to move to any preset position.
Over-thrust Protection
If actuator output thrust exceeds 150% (configurable to 70%) of the drive rating, the motor will shut off
(feature can be enabled / disabled)
Over-travel Limit Switches (Dedicated)
Two Form C switches (one for each direction of travel) provide over-travel protection.
Auxiliary Switches (Non-dedicated)
Two Form C and two Form A, rated for 1A, 250 V ac. Switches are field-adjustable.
Handswitch
Permits local electrical operation independent of the controller signal. Standard on all units. An optional
auxiliary contact can be used to indicate that the Handswitch is in "AUTO" mode or to sound an alarm if it is
taken out of "AUTO". A locking Handswitch is also available.
Enclosure
Precision-machined, aluminum alloy castings painted with corrosion-resistant polyurethane paint provide a
rugged, dust-tight, weatherproof enclosure. NEMA 4X; IP66.
Standards*
UL Listed
*For standards not specifically listed, please call Beck for more information at 215-968-4600.
Hazardous Locations (Optional)
Class I, Div. 2, Groups C & D; Class II, Div. 2, Groups F & G.
Control Options
Control Control Control Position Position Aux. Switches
Option Mode Input Ranges Sensor Feedback (Customer Use)
4–20 mA 4–20 mA
9 Modulating (DCM) CPS-4 4
1–5 V dc Digital (fieldbus)
Digital (fieldbus)
2-position
3 120 V ac None None 4
(open/close)
60
Group 29 Outline Dimension Drawings
MODEL 29-100
COVER
ALLOW 6 1/4 MIN. FOR WIRING TERMINALS
COVER REMOVAL 5 3/16 9 1/16 POSITION SENSING DEVICE 2 7/8
DIGITAL CONTROL MODULE
STROKE ADJUSTMENT
5 3/16 6 5/32
5/8
70-0003-02
To reduce the risk of ignition of hazardous
atmospheres, disconnect the equipment
from the supply circuit before opening.
Keep assembly tightly closed
when in operation. HANDSWITCH
70-0000-XX
CLASS II DIV 1 GROUPS E, F, & G
CLASS II DIV 1 & 2
TYPE 4X
HART ®
SEAL WITHIN 18” OF CONDUIT CONNECTION
COMM. PORT
NAMEPLATE
4 7/8
EXTENDED
DIMENSION HANDWHEEL
8 3/4
VALVE STEM COUPLING
INTEGRAL
TIGHTSEATER
3/4-16 UNF THREAD X 11/16 DEEP
VALVE BONNET (ADAPTOR BUSHINGS FOR SMALLER
MATCH LINE THREADS)
COVER
WIRING TERMINALS
MODEL 29-250 ALLOW 6 3/4" MIN. FOR POSITION SENSING DEVICE
DIGITAL CONTROL MODULE
COVER REMOVAL STROKE ADJUSTMENT
2 7/8
6 1/2 13
6 1/8 7 1/8 3/4
LISTED 4GA0
ROTARY ACTUATOR FOR USE IN HAZARDOUS LOCATIONS
CLASS I DIV 1 GROUPS C & D
70-0000-XX
ACTUATORS
SEAL WITHIN 18” OF CONDUIT CONNECTION
18 3/4
LINEAR
VALVE
NAMEPLATE
10 3/8
#10-32 EXTERNAL
GROUND SCREW
5 1/8"
EXTENDED INTEGRAL
TIGHTSEATER
DIMENSION
8 3/4
VALVE STEM COUPLING
HANDWHEEL
VALVE BONNET
MATCH LINE FASTENER GUIDE
Mechanical Specifications
Beck Actuator Actuator Stem Approx.
Model No. Travel Range Weight (lbs)
29-100 1/2"–2" 94
29-250 1/2"–2" 145
Actuators may be mounted in any orientation.
All dimensions are in inches, metric dimensions available on request.
All dimensions are subject to change. Request certified dimensional drawings for the actuators you select.
61
SPECIALTY
APPLICATIONS
Whatever the application, there is a Beck drive available to improve the
efficiency of almost any process.
Burner Tilts
The Beck 11-430 Electronic Control
Drive provides up to 5,200 lb-ft of torque
for modulation of large dynamic loads such
as multiple burner tilt arrays and large
dampers. All of the flexibility, convenience,
and reliability that distinguish Beck drives are
included in the 11-430 high torque drive. To
produce the 11-430, a Beck 11-400 drive is
mated with a large, durable gear reduction
unit that increases the output torque by a
factor of 3:1. The output shaft and crank arm
have been designed to conservatively deliver
this greater torque. The drive is available
with four different torque/timing options. See
page 12 for details.
62
Pump Handle Valves
Beck Group 11 drives
with fulcrum lever
mountings provide
accurate modulating
control of large linear
globe valves. These
virtually maintenance-
free assemblies reliably
eliminate stick/slip
and performance
inconsistencies typical of
pneumatic drives. The
fulcrum lever assembly
accommodates high
thrusts while maintaining
long-term reliability and
precision. In addition,
Group 11 control drives
are available with
hazardous location
ratings.
Gate Dampers
A multi-revolution
Group 11 drive is
available for those
applications in which a
gravity-type gate must
be raised or lowered
in response to signal
changes. Often used APPLICATION
to regulate differential ACTUATORS
SPECIALTY
pressure by controlling
balancing dampers on
the hot exhaust side of
furnaces, Beck drives
provide high accuracy
and quick response
even when continuously
modulating. This results
in greater fuel economy
and longer refractory life.
63
ACCESSORIES AND SERVICES
Beck offers a wide range of accessories, services and unparalleled customer
support to ensure complete satisfaction.
INSTALLATION ASSISTANCE
Our experience shows proper installation to be among the most important factors in achieving
long-term, maintenance free service from your Beck drive. To ensure a trouble-free installation,
we will work directly with you at each step—from drive selection to final installation. We can assist
you with each of the following:
• Actuator Selection. To specify the proper torque/thrust and timing.
• Mounting Base Design. Design a long-lasting installation that protects the drive and driven
equipment, and provides proper access clearances. Customized pedestals and adaptor plates
are available.
• Linkage Design. Provide you with detailed linkage dimensions and linkage selection.
• Retrofit Kits. Update your drive to include the latest advances.
64
Link-Assist™ Linkage Kits
The Link-Assist™ computer program Beck Linkage Kits are available for
optimizes the configuration for the load’s completing the mechanical connection from
torque characteristics with the minimum the drive crank arm to the load lever arm.
drive size to give you the best performance Proper linkage connection is an important
at the lowest possible cost. Link-Assist™ is consideration in achieving a successful,
available for the proper selection of the rotary long-lasting installation. By eliminating
drive torque rating and linkage system for your slop in the linkage, control is improved.
valves and dampers. Beck Sales Engineers can assist you with
Beck Group 11 drives may be specified designing your linkage and specifying the
to travel 100 degrees—regardless of full appropriate linkage kit.
travel of the driven equipment—for enhanced Beck Linkage Kits are designed to
control of damper or valve position. This simplify installation of your Beck drive on
feature also allows full flexibility in arranging any application. All Kits are provided with
the drive’s torque to be distributed for the best internal left-hand and right-hand threads to
mechanical advantage relative to the driven permit adjustment of linkage length of ± 1
load. Full 100° drive travel also provides the 1/2” without removal from the crank arm or
highest position resolution attainable using the load lever arm.
full travel of the CPS feedback device. Rod ends with bearings are used
To take advantage of Beck’s Link-Assist™ to provide long term reliability, virtually
program, provide the following information to eliminate binding and wear, and provide tight
your Beck Sales or Application Engineer: control of the driven load. These rod ends
• Load torque characteristics, including allow for some lateral misalignment between
maximum torque and load arm angular the drive shaft and driven load which
position simplifies installation.
• Load lever radius (and range, if adjustable) Sample Link-Assist Data Sheet
HAROLD BECK AND SONS, INC. June 29, 2007
• Load lever shaft rotation range Newtown, PA 18940
Contact: BECK Sales Engineer 215-968-4600
LINKAGE DATA
Model Number: 11-409 Horizontal Offset. (H): 24.00 inches
range Rated Torque: 1800 lb-ft Vertical Offset....... (V):
Connecting Link Length (A):
36.00 inches
44.13 inches
http://www.haroldbeck.com/support/ 60.0
70.0
80.0
53.6
62.8
72.0
1951
1951
1962
1.08
1.08
1.09
2726
3053
3592
linkage_link-assist.htm 90.0
100.0
81.1
90.0
1994
2088
1.11
1.16
4533
6420
2:39:00 PM
65
Hex Linkage Kits
When well-defined, short lengths are
required, Hex Linkage Kits can be used.
The table below provides information for
specifying Hex Linkage Kits.
Mounting Pedestals
Standard and custom retrofit pedestals
are available, including designs for a number
of common pneumatic actuators such as
the Bailey AC and UP series and Hagan
cylinders.
OPTIONAL FEATURES
68
DPDT Override Torque / Thrust Sensing
Available to provide a control system Most option 9 Beck drives are capable
emergency override relay. of measuring drive torque or thrust output.
Depending on the model, this may be an
extra cost option. This capability provides
Crank Arm Options several features, including:
For applications where the standard • A live display of the torque / thrust output.
crank arm will not suffice, extra long or • The ability to store peak torque / thrust
shorter crank arms may be equipped as an values.
option on some Beck drive models.
• Ten-segment peak torque / thrust profile
for drive output trending and final control
element diagnostics.
SST Hardware
• A high torque / thrust alarm that alerts
Stainless steel hardware is available for the user when the torque / thrust output
applications in high humidity or particularly exceeds a set value (normally set at 105%
wet environments. of the drive rating).
• Overtorque / overthrust protection that will
shut off power to the motor if the torque /
Epoxy Paint
thrust exceeds a specified percentage of
For environments where the Beck drive the drive rating (e.g., 150% for Group 11
will come into regular contact with grease, drives). This value is configurable.
oil, etc., a tough, long-lasting epoxy paint is
available for added protection.
ACCESSORIES/
SERVICES
69
FACTORY SUPPORT
Specification Writing
Beck provides specification writing
assistance in order to help you specify and
order the right drives for your applications.
Beck Factory Sales Engineers will work with
you to make it easier for you to obtain the
proper equipment and give you confidence
that no details are overlooked.
70
Troubleshooting Assistance Training Services
Because Beck drives are constructed Beck’s technical personnel can provide
with no-burnout motors, sealed electronics training services at your plant location.
and powerful gear trains, they require no Training topics will include mechanical
periodic maintenance. In the event that and electrical installation, diagnostics and
a problem does occur, you can refer to troubleshooting, maintenance, and repair.
detailed instruction manuals, complete with
troubleshooting guide, to determine the
corrective procedure. This, combined with
free on-call phone assistance, will resolve
almost any problem and will get you back on-
line quickly.
Factory Repair
Factory repair of drives or subassemblies
is available for both normal and emergency
service. To assure prompt processing,
contact the factory to receive a Returned
Material Authorization (RMA) number. If a
repair estimation is desired, please send the
name and phone number of your contact for
service authorization. It is helpful to include
a description of the work desired with the
shipment or, in the event of a problem, the
malfunction being experienced.
ACCESSORIES/
SERVICES
71
R