[Technical Data]

Selection of Ball Screws 1

1. Ball Screw Selection Procedure

3. Axial Clearances of Ball Screws

Basic ball screw selection procedure and required evaluation items are shown below.
Determine the application parameters

Moving mass, feed speed, motion pattern, screw shaft rotational speed, stroke,
mounting orientation (horizontal or vertical), life, positioning accuracy

Interim selection of ball screw specifications

NG

Axial clearance does not affect positioning accuracy if the feed is unidirectional, but will generate backlash and negatively affect on positioning accuracy if the
direction or the axial load is reversed.
QTable 4. Axial Clearances of Rolled Ball Screws
Types

Temporary selection of ball screw lead accuracy grade (C3~C10),

shaft diameter, lead, and length.

Evaluation of various basic safety factors

Prod. Example Screw Shaft Dia.

P.3483 3484

Axial Load Capacity

Confirm that the applied axial load is within the ball screw's axial load capacity rating.

8
10
12

P.3485
Standard Nut
Accuracy Grade C7

15

BSST

Allowable Rotational Speed

Confirm that the intended shaft rotational speed is within the ball screw's allowable rotational speed rating. P.3486

25

Life
Confirm that the ball screw satisfies the life requirement.
NG

Evaluations based on required performances

20

P.3487

If higher positioning accuracy and/or improved responsiveness is needed, below parameters need to be evaluated.
Screw shaft rigidity
P.3488
Effects of temperature variation on life
P.3488

10
12
14

2. Ball Screw Lead Accuracy

Ball screw lead accuracy is defined by JIS Standards property parameters (ep, vu, v300, v2).
Parameter definitions and allowable values are shown below.
In general, a ball screw lead accuracy grade is selected by evaluating if the Actual Mean Travel Error of a candidate is within the allowable positioning error.

Standard Nut
Accuracy Grade C10

QTable 1. Positioning Screw (C Class) Actual Mean Travel Error (ep) and Variation (u) allowances
Effective Thread Length ( lu )

Actual Mean Travel ( lm ) Line

over

Specified Travel ( ls ) Line

0
0

V300

Travel Error

Thread Effective Length

(mm)

Nominal Travel ( lo ) Line

Actual Travel ( la ) Line

ep

Vu

V2

300mm

or less
315
400
500
630
800
1000
1250
1600

315
400
500
630
800
1000
1250

Unit : m

Accuracy Grade
C3
C5
Actual Mean
Actual Mean
Variation
Variation
Travel Error
Travel Error
12
8
23
18
13
10
25
20
15
10
27
20
16
12
30
23
18
13
35
25
21
15
40
27
24
16
46
30
29
18
54
35

Accuracy Grade

C3

Symbols

Meaning

Actual Mean Travel Error

ep

A value that is Specified Travel subtracted from Actual Mean Travel.

Variation

vu
v
v

300
2

Specified
Travel

ls

Specified
Travel Target
Value

Actual Travel

la

Actual Mean
Travel

lm

The maximum difference of the actual travel contained between two lines drawn
parallel to the actual mean travel, and is defined by three parameters below.
Variation for the effective thread length of screw shaft.
Variation for an arbitrarily taken length of 300mm within the effective thread length of screw shaft.
Variation for an arbitrary one revolution (2rad) taken within the effective thread length of screw shaft.
Axial travel compensated for temperature rise and loading
conditions, in relation to the Nominal Travel (Lead).
A value that is Nominal Travel subtracted from Specified Travel, over the effective thread length.
This value is set to compensate for possible screw shaft expansion and contraction due to
temperature changes and applied loads. The value is to be determined based on experiments
or experiences.
Actually measured travel distance
A straight line representing the actual travel trend.
A straight line obtained by the least-squares method or other
approximation methods from the curve representing the actual
travel.

25
28
32
8
10
12
Compact Nut
Accuracy Grade C10

BSSC

V300

V2

V300

V2

Standard Values

18

Accuracy Grade

Ct7

Ct10

V300

52

210

EActual Mean Travel Error (ep) for Transfer Screws (Ct Class) is calculated as ep=2Lu/300V300

15
20

C5

Parameters

15

20

QTable 2. Positioning Screws (C Class) variation per 300mm (300) Variation per rotation (2) standard values Unit : m

QTable 3. Transfer Screw (Ct Class) variation per 300mm (300) Standards Unit : m
Terms

BSSZ
BSSR

Block Nut
Accuracy Grade C10

BSBR

25
15
20
25
15
20
25

Lead
2
4
4
5
10
20
5
10
20
5
10
2
4
2
4
10
4
10
5
5
10
20
5
10
20
5
10
25
6
10
32
2
2
4
5
10
5
10
5

QTable 5. Axial Clearances of Precision Ball Screws

Axial Clearance
(mm)

Types

Prod. Example Screw Shaft Dia.

6
8

0.03 or less

Standard Nut
Accuracy Grade C3

BSX

10
12
15
8

0.05 or less
0.03 or less

10

0.07 or less
12
0.05 or less
Standard Nut
Accuracy Grade C5

BSS
(BSL)

15

0.10 or less
20
0.15 or less
25

0.10 or less
0.20 or less
0.12 or less
0.10 or less
0.20 or less
0.15 or less
0.05 or less

8
10
12
Standard Nut
Accuracy Grade C7

BSSE

0.10 or less

15

20
25

Lead
1
1
2
2
2
5
5
2
2
4
10
2
4
5
10
5
10
20
40
5
10
20
40
5
10
20
2
2
4
2
5
10
5
10
20
5
10
20
10
20

Axial Clearance
(mm)

0
(Preloaded)

0.005 or less

0.010 or less

0.005 or less

0.030 or less

5
0.10 or less
10

Selection Example of Lead Accuracy

Selection Example of Axial Clearance

<Requirements>
Ball screw diameter 15, lead 20.
Stroke 720mm
Positioning accuracy 0.05mm/720mm

<Requirements>
Ball screw diameter 15, lead 5.
Allowable backlash 0.01mm

<Selection Details>
Select an appropriate lead accuracy grade based on the application requirements.

<Selection Details>
From Table 5., it can be determined that C5 grade with 0.005mm or less axial clearance
satisfies the allowable backlash amount of 0.01mm for the 15 group.

(1) Evaluating the screw thread length

Stroke+Nut Length+Margin=720+62+60=842
*The Margin shown above is an overrun buffer, and normally determined as
1.5~2 times the screw lead.
Lead 20x1.5x2 (both ends)=60
(2) Evaluating the lead accuracy
P.1893 Table 1. is referenced and an Actual Mean Travel Error ep for
842mm ball screw thread.
C3 0.021mm/800~1000mm
C5 0.040mm/800~1000mm
(3) Determining the lead accuracy
It can be determined that a C5 grade (0.040/800~1000mm) ball screw
can satisfy the required positioning accuracy of 0.05/720mm.

3483

3484

[Technical Data]

Selection of Ball Screws 2

4. Allowable Axial Load

5. Allowable Rotational Speed

Allowable Axial Load is a load with a safety margin built-in against a shaft bucking load.
Axial load that applies to a ball screw needs to be less than Allowable Maximum Axial Load.
Allowable Axial Load can be obtained by the following formula.
Additionally, approximate Allowable Axial Load can be obtained from Table 1. Allowable Axial Load Graph.

Ball screw rotational speed is determined by required feed speed and the given screw lead, and needs to be less than the Allowable Maximum Rotational Speed.
Ball screw rotational speed is evaluated based on the shaft's critical speed and ball recirculation speed limitation DmN value.

Allowable Axial Load (P)

P=

n 2EI
2

Allowable Axial Load Calculation Example

d4
10 4(N)
2

=m

Find the Allowable Axial Load for Fig.1

Where:
P: Allowable Axial Load (N)
: Distance between Points of Buckling Load (mm)
E: Young's Modulus (2.06105N/mm2)
I: Min. Geometrical Moment of Inertia of Across Root Thread Area (mm4)

I=
d4
64

<How to use>
Thread shaft diameter 15, Lead 5
Mounting method Fixed - Support
Distance between Points of Buckling Load 1 820mm
Screw Shaft Root Diameter d 12.5
<Calculations>
g=15.1 since the mounting method is Fixed-Supported,
the Allowable Rotational Speed (Nc) is,

d : Thread Root Diameter (mm)

n, m : Coefficient Determined by Method of Screw Support
Method of Screw Support
Support - Support
Fixed - Support
Fixed - Fixed
Fixed- Free

n
1
2
4
0.25

P= m

m
5
10
19.9
1.2

12.5 4
d 4
10 4 = 10
10 4 = 3630(N)
820 2
2

5-1. Critical Speed

Allowable rotational speed is defined as a speed 80% or less of the Critical Speed where the rotational speed coincides with a natural resonant frequency of the screw shaft.
The Allowable Rotational Speed can be obtained by the following formula.
Additionally, approximate Allowable Rotational Speeds can be obtained from Table 2. Allowable Maximum Rotational Speed Graph.
Allowable Rotational Speed (min-1)

N c =fa

60 2
2 2

A: Root Thread Section Area (mm )

Table.1

A=
d2
4

g, : Coefficient Determined by Method of Screw Support

Screw Shaft Dia. Calculation Example

Method of Screw Support

Support - Support
Fixed - Support
Fixed - Fixed
Fixed- Free

1.5

1.5

10
8

Lead (N)

10
8
6
5
4
3
2

1.5
3

10
8
6
5
4
3

1.5
5

10
8

1.5

1.5
4

10
8
6
5
4

10
8

32

6
5
4

6
5
4
3

6
5
4

10

<Calculations>
(1) Find the intersection between a distance of 500mm between
load acting points and the axial load of 10000daN(from the
fixed-support graduation).[Figure 1]

25
20

(2) Read the shaft diameter of the diagonal line nearest to the
intersection on the outside. The shaft diameter can be a min.
15mm.

15

2
1.5
10

10

3
2
1.5
10 3
8
6
5
4
3
2
1.5
2

10000N 6

10
8

6
5
4

6
5
4

1.5

10

3
2
1.5

10

Fixed-Free Fixed-Fixed Fixed-Support Support -Support

Method of Screw Support

1.5

4 5 6 7 8 9 10

1.5

d
12.5
Nc= g 2 10 7(min -1) = 15.1
10 7(min -1) = 3024(min -1)
790 2

l

g
9.7
15.1
21.9
3.4

Therefore, the rotational speed will need to be 3024min-1 or less.

Table.2

Distance of Supports (Critical speed : Fixed-Support) 2

3.927
4.73
1.875

Allowable Rotational Speed Calculation Example

<Requirements>
Distance between Points of Buckling Load 500mm
Mounting method Fixed - Support
the max. axial load 10000N

1.5

<Calculations>
g=15.1 since the mounting method is Fixed-Supported,
the Allowable Rotational Speed (Nc) is,

Figure2. Allowable Rotational Speed Graph

Allowable Rotational Speed (min1)

6
5
4

<How to use>
Thread shaft diameter 15, Lead 5
Mounting method Fixed - Support
Distance between Points of Buckling Load 1 790mm

Distance between Load Acting Points(Buckling Load:Fixed-Fixed) 1

Figure1. Allowable Axial Load Curve

Find the Allowable Maximum Rotational Speed for Fig.2

Where:
: Distance of Supports (mm)
fa: Safety Factor (0.8)
E: Young's Modulus (2.06105N/mm2)
I: Min. Geometrical Moment of Inertia of Across Root Thread Area (mm4)

I=
d4
64

d: Thread Root Diameter (mm)
: Specific Gravity (7.8106kg/mm3)

Therefore, the rotational speed will need to be 3024min-1 or less.

: Safety Factor = 0.5

For higher safety, a higher safety factor should be required.

Allowable Rotational Speed Calculation Example

EI10 3
d
= g 2 10 7 (min 1)

5 6 7

10
8

Distance between Points of Buckling Load (mm)

Fixed-Free

2
1.5
10

1.5
10

8
6
5
4

10

6
5
4

8
6
5
4
3

3
2

1.5

10 3
8

10 3
8

6
5
4

1.5

6
5
4
3
2
1.5
10 2
8
6
5
Fixed-Fixed

6
5
4

15
20
25
32

<Calculations>
(1) From Table 2., find a intersection of a vertical line from Supported Span Distance
1500mm and Screw Shaft O.D. 20 line.
(2) The value 1076min-1 on the Fixed-Supported scale (Y-Axis) that corresponds to the
intersection of (1) above is the Allowable Maximum Speed.
Screw Shaft Dia. Calculation Example
<Requirements>
Distance of Supports 2000mm
Maximum Revolution Frequency 1000min-1
the max. axial load Fixed - Fixed

3
2

3
2

<Requirements>
Thread outer diameter 20
Distance of Supports 1500mm
Mounting method Fixed - Support

1.5

10 3
8

10

Thread outer diameter(mm)

1.5

1.5

10 2
8

10 2
8
6
5
4

6
5
4

<Calculations>
(1) From Table 2., find a intersection of a vertical line from Supported Span Distance
2000mm and a horizontal line from Fixed-Fixed max. speed scale (Y-Axis) at
1000min-1.
(2) A line that reaches down to the intersection in (1) is the 25 ball screw that
satisfies the required speed of 1000min-1.

3
2 2
10 1.5 2

Fixed-Support Support -Support

Method of Screw Support

3 4 5 6 7 8 9 103 1.5 2

4 5 6 7

Distance of Supports (mm)

5-2. DmN Value

The DmN value represents a ball recirculation (orbit) speed limit within a ball nut.
If this vale is exceeded, the recirculation components will be damaged.
Allowable Rotational Speed (min-1)
DmN 70000 (Precision Ball Screws)
DmN 50000 (Rolled Ball Screws)
Where:
Dm: Thread outer diameter(mm)+A Value
N: Maximum Revolution Frequency(min-1)

3485

Ball Dia.
1.5875
2.3812
3.175
4.7625
6.35

A Value
0.3
0.6
0.8
1.0
1.8

3486

[Technical Data]

Selection of Ball Screws 3

6. Life Span

Ball screw's life is defined as: Total number of rotations, time, or distance where either the ball rolling surfaces or the balls begin to exhibit repetitive stress caused
flaking. Ball screw's life can be calculated based on Basic Dynamic Load Rating with the following formula.
6-1. Life Hours (Lh)

L h=

10 6
60N m

) (hrs)

C
P mf w

Where:
Lh: Life Span Hours (hrs)
C: Basic Dynamic Load Rating (N)
Pm: Mean Axial Load (N)
Nm: Mean Revolution Frequency (min1)
fw: Work Factor
Impactless Run
fw = 1.0~1.2
Normal Run
fw = 1.2~1.5
Run with Impact
fw = 1.5~2.0

7. Screw Shaft Mounting Arrangements

Mounting Methods

Life Calculation Example

Fixed

BSS1520(15 Lead 5)
250N
2118 (min-1)
1.2

<Calculations>
Since Basic Dynamic Load Rating C for BSS1520 is 4400N,
4400

Fixed

Supported

Supported Span Distance (Critical Speed: Fixed Fixed)

= 24824(hr)

Fixed

Fixed

Fixed

Therefore, Life will be 24824 hours.

Basic Dynamic Load Rating : C

Basic Dynamic Load Rating (C) is defined as: An axial load which a group of same ball screws are
subjected and 90% of the specimen will reach 1 million rotations (106) without experiencing any
flaking of the rolling surfaces. See product catalog pages for the Basic Dynamic Load Ratings.

Fixed

K=

(N/m)

Where:
P: Axial Loads Applied on Feed Screw System (daN)
: Elastic Deformation of Feed Screw System (m)
Additionally, the following relationship exists between the feed screw system rigidity
and other various construction element rigidity.
1
1
1
1
1
=
+
+
+
Kn
Kb
Kh
K
K
Where:
K: Screw Shaft Compressive/Tensile Rigidity
Kn: Nut Rigidity
Kb: Support Bearing Rigidity
Kh: Nut and Bearing Mount Rigidity
Screw Shaft Compressive/Tensile Rigidity : K

Fixed

K =

Supported Span Distance (Critical Speed: Fixed Free)

*The basic dynamic load rating that satisfies the set life span hours is expressed by
the following formula.
60L h N m
10 6

Medium Speeds
High Accuracy
F or Support Units,
Standard Type BRW is
selected.

Load Applicable Span Distance (Buckling Load: Fixed Fixed)

*Setting life span hours longer than what is actually necessary not only requires a
larger ball screw, but also increases the price.
In general, the following standards are used for life span hours:
Machine Tools:20,000hrs
Automatic Control Equipment:15,000hrs
Industrial Machinery:10,000hrs
Measuring Instruments:15,000hrs

C=

Typical method
Medium ~ High Speeds
Medium ~High Accuracy
For Support Units,
Standard Type BRW /
BUR is selected.

Load Applicable Span Distance (Buckling Load: Fixed Fixed)

2501.2

Application Example

In order to improve accuracies and system response of precision machinery and

equipment, feed screw related component rigidity must be evaluated. Rigidity
of feed screw system can be expressed with the following formula.

Supported Span Distance (Critical Speed: Fixed Supported )

<Requirements>
Ball Screw Model
Mean Axial Load Pm
Mean Revolution Frequency Nm
Work Factor fw

106
Lh =

602118

9. Rigidity

Representative ball screw mounting arrangements are shown below.

Free

Low Speeds
For Short Screw Shafts
Medium Accuracy
For Support Units,
Economy Type BRWE
is selected

Load Applicable Span Distance (Buckling Load: Fixed Fixed)

(N/m)

Where:
P: Axial Load (N)
: Screw Shaft Expansion/Contraction (m)
The expansion and contraction are expressed in the following formula. The expansion
and contraction will directly appear as ball screw backlash.
(1) Fixed-Free Arrangement

P m f w (N)

Fixed

When ball screws are continuously used at 100C or higher, or used

momentarily at very high temperatures, Basic Dynamic/Static Load Ratings
will be reduced according to the temperature rise due to changes in
material compositions.
However, there will be no effects up to 100C. Basic Dynamic Load
Rating C" and Basic Static Load Rating Co" at 100C or higher with the
temperature factors ft and ft' can be expressed with the following formula.

6-2. Axial Load

Axial loads that apply on the screw shafts will vary depending on applicable motion profile such
as acceleration, constant velocity, and deceleration phases. Following formula can be used.
-Axial Load FormulaConstant Velocity Axial Load (Pb)=Wg
Acceleration Axial Load (Pa)=W +Wg
Deceleration Axial Load (Pc)=W -Wg

C=ftC(N)
C 0 =ft'C 0 (N)

* Omit the "" for vertical applications.

Temperature C 100 or less

: Linear bearing friction coefficient (0.02 or Linear Guides)

W: Load Mass N
g: Gravitational Acceleration 9.8m/s2
: Acceleration (*)

125

150

175

200

225

250

350

ft

1.0

0.95

0.90

0.85

0.75

0.65

0.60

0.50

ft'

1.0

0.93

0.85

0.78

0.65

0.52

0.46

0.35

4P
10 3(m)
Ed 2

Where:
P: Axial Load (N)
5
2
E: Young's Modulus (2.06x10
Fixed N/mm )
d: Screw Shaft Root Diameter (mm)
: Load Applicable Span Distance (mm)
(2) Fixed-Fixed Arrangement

ENormal usage range is -20~80C. For application in high temperature, use of heat
resistant grease as well as heat resistivity of other components should be evaluated.

6-3. Formulae for Average Axial Load and Average Rotational Speed
Average Axial Load and Average Rotational Speed are calculated based on
proportions of motion profiles.
Average Axial Load and Average Rotational Speed for Motion profiles in Table 1.
can be calculated with the formula 2.
[Table 1. Motion Profile]

P1N
P2N
P3N

A
B
C

t1%
t2%
t3%

[Formula 2. Average Axial Load Calculation]

P 1 3N 1 t 1 +P 2 3N 2 t 2 +P 3 3N 3 t 3
P m=
N 1 t 1 +N 2 t 2 +N 3 t 3

(N)

N 1 t 1 +N 2 t 2 +N 3 t 3
N m=
(min 1)
t 1 +t 2 +t 3

For case of a machine tool application, Max. Load (P1) would be for the heaviest
cutting cycles, Regular Load (P2) is for the general cutting conditions, and Minimum
Load (P3) is for the non-cutting rapid feeds during positioning moves.

3487

Axial Load

Rotational
Speed

Hours
Ratio

A
B
C

343N
10N
324N

1500min
3000min
1500min

29.4%
41.2%
29.4%

Where:
P: Axial Load(N)
E: Young's Modulus (2.06x105N/mm2)
d: Screw Shaft Root Diameter (mm)
,: Load Applicable Span Distance (mm)
L: Mounting Span Distance (mm)

<Calculations>
(1) Average Axial Load

Pm =

The formula produces the max. value when = =

343 15000.294+10 30000.412+324 15000.294

3

15000.294+30000.412+15000.294

Therefore, the Average Axial Load Pm will be 250N.

15000.294+30000.412+15000.294
0.294+0.412+0.294

= 250(N)

PL
10 3
Ed 2

L
2

Therefore, the max. shaft expansion and contraction will be 1/4 of Fixed-Free
arrangement.

(2) Average Rotational Speed

Nm =

,
4P
10 3(m)
Ed 2L

<Requirements>
Motion
Profile

Fixed

Average Axial Load and Average Rotational Seed Calculation Example

Hours Ratio

N1min-1
N2min-1
N3min-1

(t1+t2+t3=100%)

Axial Load Rotational Speed

Fixed

Fixed

(*) Acceleration ( )=(Vmax/t)x10-3

Vmax: Rapid Feed Rate mm/s
t: Acceleration/Deceleration Time s

Motion
Profile

Free

8. Temperature and Life

= 2118(min-1)

Therefore, the Average Rotational Speed Nm will be 2118min.

3488

[Technical Data]

Selection of Ball Screws 4

10. Driving Torque
This selection provides a guide for selecting ball screw frictional properties and the driving motor.

T 1=

10-1. Friction and Efficiency

Ball screw efficiency can be expressed in the following formulas; wherein is the coefficient of friction
and is the screw's lead angle. Variables are determined through analysis of a dynamic model.
When rotational force is converted into axial force (Forward Action)

1 tan
1+/tan

When axial force is converted into rotational force (Reverse Action)

=

(1) Constant Speed Torque Exerted on the Motor Output Thread

This is the amount of torque required to drive the output thread against the applied external load, at a constant speed.

1/tan
1+ tan

10-2. Load Torque

The load torque(constant speed driving torque) required in drive source
design(motors,etc.)is calculated as follows.
(1) Forward Action
Torque required when converting rotational force into axial force

PL
T=
(N cm)

2
Where:
T: Load Torque (Ncm)

PL
+T P
2

L: Ball Screw Lead (cm)

: Ball Screw Efficiency (0.9)
(2) Reverse Action
External axial load when converting axial force into rotational

2 T
P=
(N)
'L

Where:
P: External Axial Load (N)
T: Load Torque (Ncm)
L: Ball Screw Lead (cm)
': Ball Screw Efficiency (0.9)
(3) Friction Torque Caused by Preloading
This is a torque generated by preloading. As external loads increase, the preload of the
nut is released and therefore the friction torque by preloading also decreases.
Under No load
P LL
(N cm)
T P= K
2
K=0.05(tan )
Where:
PL: Preload (N)
L: Ball Screw Lead (cm)
K: Coefficient of Internal Friction
L
: Lead Angle
tan 1
D
D: Thread Outer Diameter

Z 1
Z 2

(2) Acceleration Torque Exerted on the Motor Output Thread

This is the amount of torque required to drive the output shaft against the external load during acceleration.
2N
60t
Z1
Z2

Work Piece

F
W

10 (N cm)
2

PL
(3P LP)
+T P
2
3P L

Z1
2 N
+J M
10 3(Ncm)
Z2
60t

Where:
TM: Total Torque Exerted on the Motor Output Thread (Ncm)
T1: Driving Torque at Constant Speed (Ncm)
T2: Driving Torque at In Acceleration (Ncm)
Once you have temporarily found the type of motor you need, check
1. effective torque,

Ball Screw J3

3489

3. motor overload properties and heat tolerance during repeated starting, stopping.
Gear J2
Z2

Pinion J1
Z1

720mm

0.15 0.09 0.15 0.51

0.15

0.57

0.15 0.53

0.9
0.93=2.7

Couplings

Start-up Motor

Distance of Supports (Critical Speed:Fixed-Support) 2

1000mm/s

s
Distance between Load Acting Points (Buckling Load:Fixed-Fixed) 1

1.4

1. Setting Lead (L)

Set lead based on maximum motor revolutions and threading speed. Use the following formula.

2. acceleration constant and

Table

Table

(J 2+J 3+J 5+J 6) (kg cm 2)

J M= J 1+J 4 +
Where:
T2: Driving Torque in Acceleration (Ncm)
: Motor Thread Angular Acceleration (rad/s2)
N: Motor Thread Revolutions (min-1)
t: Acceleration (s)
JM: Moment of Inertia Exerted on the Motor (kgcm2)
J1: Moment of Inertia Exerted on Pinion (kgcm2)
J2: Moment of Inertia Exerted on Gear (kgcm2)
J3: Moment of Inertia Exerted on Ball Screw (kgcm2)
J4: Moment of Inertia Exerted on Motor's Rotor (kgcm2)
J5: Moment of Inertia of Moving Body (kgcm2)
J6: Moment of Inertia of Coupling (kgcm2)
M: Masses of Table and Work Piece (kg)
L: Ball Screw Lead (cm)
Moment of inertia exerted on cylinders as screws and cylinders such as Gears
(Calculation of J1~J4, J6)

J=
D 4 (kg cm 2)
32
Where:
D: Cylinder Outer Diameter (cm)
: Cylinder Length (cm)
: Material Specific Gravity
3
3
=7.810
)
(kg/cm
L 2
J 5=M 2 (kg cm2)

T M= T 1+T 2=

When selecting a driving motor, it is necessary to satisfy the following conditions:

1.Ensure a marginal force sufficient to counter the load torque exerted on the motor's output thread.
2.Enable starting, stopping at prescribed pulse speeds, sufficiently powered to counter the moment
of inertia exerted on the motor's output thread.
3.Obtain the prescribed acceleration and deceleration constants, sufficient to counter the moment of
inertia exerted on the motor's output thread.

Work

W=50(kg)
Smax.=720(mm)
Vmax.=1000(mm/s)
t=0.15(s)
0.1/720(mm)
0.01(mm)
Lh=30000Hours
=0.02
Nmax.=3000(min1)

4.1(1Cycle)

(3) Total Torque Exerted on the Motor Output Thread

Overall torque can be obtained by adding results from formulas (1) and (2).

11. Selecting the Driving Motors

Condition of Use
Work & Table Mass
Maximum Strokes
Threading Speed
Acceleration Constant
Positioning Precision
Repeat Accuracy
Life Span
Direct Acting Guide Coefficient of Friction
Driving Motor
Duty Cycle Model Diagram
240mm(Stroke)
V
mm/s

(N cm)

Where: P 3PL
T1: Driving Torque at Constant Speed (Ncm)
P: External Axial Load (N)
P=F+Mg
F: Thrust Reaction Produced in Cutting Force (N)
M: Masses of Table and Work Piece (kg)
: Coefficient of Friction on Sliding Surfaces
g: Gravitational Acceleration (9.8m/s2)
L: Ball Screw Lead (cm)
: Mechanical Efficiency of Ball Screw or Gear
TP: Friction Torque Caused by Preloading (Ncm) Referto Formula 10-2-(3)
PL: Preload (N)
Z1: Number of Pinion's Teeth
Z2: No. of Gear's Teeth

T 2= J M = J M

P: External Axial Load (N)

(3P LP)
3P L

12. Example of Selection of Ball Screws

It is necessary to ensure a sufficient margin for these parameters.

Vmax60
100060
=
= 20
Nmax
3000

Required lead is 20mm or higher.

3. Accuracy Evaluation

(1) Evaluating Accuracy Grades and Axial Clearances

P.3483 2. "Ball Screw Lead Accuracy" section shows a table for accuracy values of various
Accuracy Grades.
From the lead accuracy value table, it can be confirmed that the C5 Grade with Actual Mean Travel
Error ep 0.040/800~1000mm will satisfy the requirement of 0.1/720mm, and a BSS1520 is
suitable.
Additionally, the Precision Screws axial clearance table on shows that axial clearance of BSS1520
is 0.005 or less.
The required positioning repeatability is 0.01mm, and it can be confirmed that BSS1520 satisfies
the requirement.

2. Nut selection

(1) Calculating Axial Load

P.3487, 6-2. Axial Load calculation formula is used to obtain the axial loads for each segment of a
motion profile.
At Constant Speed
Axial Load (Pb) =Wg=0.02509.8 10 (N)
In Acceleration
Acceleration( ) = (Vmax/t)10-3 = (100/0.15)10-3=6.67 (m/s2)
Axial Load (Pa) =W +Wg=506.67+0.02509.3 343 (N)
In Deceleration
Axial Load (Pc) W -Wg=506.67-0.02509.8 324 (N)

4. Screw Shaft Selection

(1) Determining the Overall Length

Screw Shaft O.A.L. (L)=
Max. Stroke+Nut Length+Margin+Shaft End Terminations (both sides). Therefore,
Max Stroke:
720mm
Nut Length:
62mm
Margin:
Lead1.5=60mm
Shaft End Termination Dims.: 72

(2) Actual moving time during each segment in a motion profile

Below derived from Duty Cycle Model Diagram.

Screw Shaft O.A.L. (L)=720+62+60+72=914mm

Operating Pattern In Acceleration At Constant Speed In Deceleration Total Operating Time

Operating Time
0.60
0.84
0.60
2.04

* The Margin is provided as a countermeasure in case overruns, and the amount is typically set as
1.5~2 times the screw lead.
Lead 201.52(Ends)=60

(3) Summary of Axial Loads, Rotational Speeds, and Operation Time for Each Motion Profile
Operating Pattern

In Acceleration

At Constant Speed

Axial Load

343N

10N

Revolutions Frequency
Operating Time Ratio

1500min
29.4%

In Deceleration
324N

3000min
41.2%

1500min1
29.4%

(4) Calculating the Average Axial Load with a formula in P.3487, 6-3.

Mean Axial Load(Pm)=

P 1 3N 1 t 1 +P 2 3N 2 t 2 +P 3 3N 3 t 3
N 1 t 1 +N 2 t 2 +N 3 t 3

(2) Evaluating the Allowable Axial Load

Load Applicable Span Distance l1 is 820mm, and the Axial Load can be obtained by the formula on
P.3485, "4. Allowable Axial Load" as below.

N 1 t 1 +N 2 t 2 +N 3 t 3
Mean Turns (Nm)=
=2118(min-1)

t 1 +t 2 +t 3
(6) Calculation of the required basic dynamic load rating
(1) Calculating Continuous Operational Life (Lho)
A Continuous Operational Life which is derived by subtracting Resting time from Desired Life
while a motion profile of 4.01s with a moving time of 2.04s can be calculated as follows.
2.04
Lho=Desired Life (Lh)
=14927 (Hours)
4.1
(2) Calculating Required Basic Dynamic Load Rating
P.3487 6-1. contains a formula for calculating a Basic Dynamic Load Rating for
continuous operational life.
60L hoN m
60149272118
C=
P mf w=
2501.2=3700(N)
10 6
10 6

d4
2

104=10

12.54
820 2

104=3660N

The above formula produces an Axial Load value of 343N which is well within the Allowable Max.
Axial Load 3660N, and suitability is confirmed.

=250(N)

(5) Calculating the mean turns

P=m

(3) Evaluating the Allowable Max. Rotational Speed

Shaft supported span is 790mm, and the formula in "5-1. Critical Speed" on produces a value for
the Critical Speed Nc as P.3486

Nc=g

d
2

107=15.1

12.5
7902

107=3024min-1

The max. speed requirement of 3000min-1 is within the Critical Speed of 3024min-1, and the
suitability is confirmed.
Additionally, the DmN value can be evaluated with the formula in P.3486, "5-2. DmN Value" as...
DmN=(Shaft O.D.+A value)Max Rotational Speed=15.83000=4740070000
and the suitability is confirmed.

5. Selection Result

From the above, it is determined that a suitable ball screw model is BSS1520-914.

(7) Tentative Ball Screw Selection

A ball screw to satisfy the requirements of Lead 20 and Basic Dynamic Load Rating of 3700N,
BSS1520 is tentatively selected.

Motors

3490