Examples of Selecting A Ball Screw: High-Speed Transfer Equipment (Horizontal Use)

513-1E
Point of Selection
Examples of Selecting a Ball Screw

High-speed Transfer Equipment (Horizontal Use)
[Selection Conditions]
Table Mass m1 =60kg Positioning accuracy repeatability 0.1 mm
Work Mass m2 =20kg Minimum feed amount s = 0.02mm/pulse
Stroke length ℓS=1000mm Desired service life time 30000h
Maximum speed Vmax=1m/s Driving motor AC servo motor
Acceleration time t1 = 0.15s Rated rotational speed:
Deceleration time t3 = 0.15s 3,000 min-1
Number of reciprocations per minute n =8min-1 Inertial moment of the motor Jm =1×10–3 kg•m2
Backlash 0.15mm Reduction gear None (direct coupling)A=1
Positioning accuracy 0.3 mm/1000 mm Frictional coefficient of the guide surface  =0.003 (rolling)
(Perform positioning from Guide surface resistance f=15 N (without load)
the negative direction)
Work mass
+
Table mass
m2
+
m1
Ball Screw
Motor Ball screw shaft Ball screw nut
[Selection Items]
Screw shaft diameter
Lead
Nut model No.
Accuracy
Axial clearance
Screw shaft support method
Driving motor
B15-69
513-1E
[Selecting Lead Angle Accuracy and Axial Clearance]

 Selecting Lead Angle Accuracy
To achieve positioning accuracy of 0.3 mm/1,000 mm:
±0.3 ±0.09
=
1000 300
The lead angle accuracy must be 0.09 mm/300 mm or higher.
Therefore, select the following as the accuracy grade of the Ball Screw (see Table1 on B15-
20).
C7 (travel distance error: 0.05mm/300mm)
Accuracy grade C7 is available for both the Rolled and the Precision Ball Screws. Assume that a
Rolled Ball Screw is selected here because it is less costly.
 Selecting Axial Clearance

To satisfy the backlash of 0.15 mm, it is necessary to select a Ball Screw with an axial clearance of
0.15 mm or less.
Therefore, a Rolled Ball Screw model with a screw shaft diameter of 32 mm or less that meets the
axial clearance of 0.15 mm or less (see Table13 on B15-27) meets the requirements.
Thus, a Rolled Ball Screw model with a screw shaft diameter of 32 mm or less and an accuracy
grade of C7 is selected.
[Selecting a Screw Shaft]

 Assuming the Screw Shaft Length
Assume the overall nut length to be 100 mm and the screw shaft end length to be 100 mm.
Therefore, the overall length is determined as follows based on the stroke length of 1,000 mm.
1000 + 200 = 1200 mm
Thus, the screw shaft length is assumed to be 1,200 mm.
 Selecting a Lead
With the driving motor’s rated rotational speed being 3,000 min-1 and the maximum speed 1 m/s, the
Ball Screw lead is obtained as follows:
1×1000×60
= 20 mm
3000
Therefore, it is necessary to select a type with a lead of 20 mm or longer.
In addition, the Ball Screw and the motor can be mounted in direct coupling without using a reduc-
tion gear. The minimum resolution per revolution of an AC servomotor is obtained based on the
resolution of the encoder (1,000 p/rev; 1,500 p/rev) provided as a standard accessory for the AC
servomotor, as indicated below.
1000 p/rev(without multiplication)
2000 p/rev(doubled)
3000 p/rev(doubled)
4000 p/rev(quadrupled)
B15-70
513-1E
Point of Selection
To meet the minimum feed amount of 0.02 mm/pulse, which is the selection requirement, the follow-
ing should apply.
Lead 20mm —— 1000 p/rev
30mm —— 1500 p/rev
40mm —— 2000 p/rev
60mm —— 3000 p/rev
80mm —— 4000 p/rev
 Selecting a Screw Shaft Diameter

Those Ball Screw models that meet the requirements defined in Section [Selecting Lead Angle Accu-
racy and Axial Clearance] on B15-70: a rolled Ball Screw with a screw shaft diameter of 32 mm
or less; and the requirement defined in Section [Selecting a Screw Shaft] on B15-70: a lead of
20, 30, 40, 60 or 80 mm (see Table20 on B15-35) are as follows.
Shaft diameter Lead
15mm —— 20mm
15mm —— 30mm
20mm —— 20mm
20mm —— 40mm
30mm —— 60mm
Since the screw shaft length has to be 1,200 mm as indicated in Section [Selecting a Screw Shaft]
on B15-70, the shaft diameter of 15 mm is insufficient. Therefore, the Ball Screw should have
a screw shaft diameter of 20 mm or greater.
Accordingly, there are three combinations of screw shaft diameters and leads that meet the require-
ments: screw shaft diameter of 20 mm/lead of 20 mm; 20 mm/40 mm; and 30 mm/60 mm.
Ball Screw
 Selecting a Screw Shaft Support Method
Since the assumed type has a long stroke length of 1,000 mm and operates at high speed of 1 m/s,
select either the fixed-supported or fixed-fixed configuration for the screw shaft support.
However, the fixed-fixed configuration requires a complicated structure, needs high accuracy in the
installation.
Accordingly, the fixed-supported configuration is selected as the screw shaft support method.
B15-71
513-1E
 Studying the Permissible Axial Load

Calculating the Maximum Axial Load
Guide surface resistance f=15 N (without load)
Table Mass m1 =60 kg
Work Mass m2 =20 kg
Frictional coefficient of the guide surface = 0.003
Maximum speed Vmax=1 m/s
Gravitational acceleration g = 9.807 m/s2
Acceleration time t1 = 0.15s
Accordingly, the required values are obtained as follows.
Acceleration:
Vmax
α= = 6.67 m/s2
t1
During forward acceleration:
Fa1 = • (m1 + m2) g + f + (m1 + m2) • = 550 N
During forward uniform motion:
Fa2 = • (m1 + m2) g + f = 17 N
During forward deceleration:
Fa3 = • (m1 + m2) g + f – (m1 + m2) • = –516 N
During backward acceleration:
Fa4 = –• (m1 + m2) g – f – (m1 + m2) • = –550 N
During uniform backward motion:
Fa5 = –• (m1 + m2) g – f = – 17 N
During backward deceleration:
Fa6 = –• (m1 + m2) g – f + (m1 + m2) • = 516 N
Thus, the maximum axial load applied on the Ball Screw is as follows:
Famax = Fa1 = 550 N
Therefore, if there is no problem with a shaft diameter of 20 mm and a lead of 20 mm (smallest
thread minor diameter of 17.5 mm), then the screw shaft diameter of 30 mm should meet the re-
quirements. Thus, the following calculations for the buckling load and the permissible compressive
and tensile load of the screw shaft are performed while assuming a screw shaft diameter of 20 mm
and a lead of 20 mm.
B15-72
513-1E
Point of Selection
Buckling Load on the Screw Shaft

Factor according to the mounting method 2=20 (see B15-38)
Since the mounting method for the section between the nut and the bearing, where buckling is
to be considered, is “fixed-fixed: “
Distance between two mounting surfaces ℓa=1100 mm (estimate)
Screw-shaft thread minor diameter d1=17.5 mm
4 4
d1 17.5
P1 = η2 •
4 4
2 ×10 = 20× 2 × 10 = 15500 N
ℓa 1100
Permissible Compressive and Tensile Load of the Screw Shaft

P2 = 116 × d12 = 116 × 17.52 = 35500 N
Thus, the buckling load and the permissible compressive and the tensile load of the screw shaft are
at least equal to the maximum axial load. Therefore, a Ball Screw that meets these requirements
can be used without a problem.
 Studying the Permissible Rotational Speed

Maximum Rotational Speed
● Screw shaft diameter: 20 mm; lead: 20 mm
Lead Ph= 20 mm
3
Vmax × 60× 10 –1
Nmax = = 3000 min
Ph
Ball Screw
● Screw shaft diameter: 20 mm; lead: 40mm
Lead Ph= 40 mm
3
Vmax × 60× 10 –1
Nmax = = 1500 min
Ph
● Screw shaft diameter: 30mm; lead: 60mm
Lead Ph= 60 mm
3
Vmax × 60× 10 –1
Nmax = = 1000 min
Ph
B15-73
513-1E
Permissible Rotational Speed Determined by the Dangerous Speed of the Screw Shaft
Factor according to the mounting method 2=15.1 (see B15-40)
Since the mounting method for the section between the nut and the bearing, where dangerous
speed is to be considered, is “fixed-supported: “
Distance between two mounting surfaces ℓb=1100 mm (estimate)
● Screw shaft diameter: 20 mm; lead: 20 mm and 40 mm
Screw-shaft thread minor diameter d1=17.5mm
d1 17.5
N1 = λ2×
7 7 –1
2 10 = 15.1× 2 × 10 = 2180 min
ℓb 1100
Screw-shaft thread minor diameter d1=26.4mm
d1 26.4
N1 = λ2×
7 7 –1
10 = 15.1× 2 × 10 = 3294 min
ℓb
2
1100
Permissible Rotational Speed Determined by the DN Value

● Screw shaft diameter: 20 mm; lead: 20 mm and 40 mm (large lead Ball Screw)
Ball center-to-center diameter D=20.75 mm
70000 70000 –1
N2 = = = 3370 min
D 20.75
● Screw shaft diameter: 30 mm; lead: 60 mm (large lead Ball Screw)
70000 70000 –1
N2 = = = 2240 min
D 31.25
Thus, with a Ball Screw having a screw shaft diameter of 20 mm and a lead of 20 mm, the maximum
rotational speed exceeds the dangerous speed.
In contrast, a combination of a screw shaft diameter of 20 mm and a lead of 40 mm, and another
of a screw shaft diameter of 30 mm and a lead of 60 mm, meet the dangerous speed and the DN
value.
Accordingly, a Ball Screw with a screw shaft diameter of 20 mm and a lead of 40 mm, or with a
screw shaft diameter of 30 mm and a lead of 60 mm, is selected.
[Selecting a Nut]
 Selecting a Nut Model Number
Rolled Ball Screw models with a screw shaft diameter of 20 mm and a lead of 40 mm, or with a
screw shaft diameter of 30 mm and a lead of 60 mm, are large lead Rolled Ball Screw model WTF
variations.
WTF2040-2
(Ca=5.4 kN, C0a=13.6 kN)
WTF2040-3
(Ca=6.6 kN, C0a=17.2 kN)
WTF3060-2
(Ca=11.8 kN, C0a=30.6 kN)
WTF3060-3
(Ca=14.5 kN, C0a=38.9 kN)
B15-74
513-1E
Point of Selection

Study the permissible axial load of model WTF2040-2 (C0a = 13.6 kN).
Assuming that this model is used in high-speed transfer equipment and an impact load is applied
during deceleration, set the static safety factor (fS) at 2.5 (see Table1 on B15-47).
C 0a 13.6
= = 5.44 kN = 5440 N
fS 2.5
The obtained permissible axial load is greater than the maximum axial load of 550 N, and therefore,
there will be no problem with this model.
Calculating the Travel Distance

Deceleration time t3 = 0.15s
● Travel distance during acceleration
Vmax • t1 1 × 0.15
ℓ1, 4 = ×103 = × 103 = 75 mm
2 2
● Travel distance during uniform motion
Vmax • t1 + Vmax • t3 1 × 0.15 + 1×0.15
ℓ2, 5 = ℓS – × 103 = 1000 – ×103 = 850 mm
2 2
● Travel distance during deceleration
Vmax • t3 1 × 0.15
ℓ3, 6 = ×103 = ×103 = 75 mm
Ball Screw
2 2
Based on the conditions above, the relationship between the applied axial load and the travel dis-
tance is shown in the table below.
Applied axial load Travel distance

Motion
FaN(N) ℓN(mm)
No.1: During
550 75
forward acceleration
No.2: During
17 850
forward uniform motion
No.3: During
–516 75
forward deceleration
No.4: During
–550 75
backward acceleration
No.5: During
–17 850
uniform backward motion
No.6: During
516 75
backward deceleration
＊ The subscript (N) indicates a motion number.
Since the load direction (as expressed in positive or negative sign) is reversed with Fa3, Fa4 and Fa5,
calculate the average axial load in the two directions.
B15-75
513-1E
Average Axial Load

● Average axial load in the positive direction
Since the load direction varies, calculate the average axial load while assuming Fa3, 4, 5 = 0N.
3
Fa1 × ℓ1 + Fa2 × ℓ2 + Fa6 × ℓ6
3 3 3
Fam1 = = 225 N
ℓ1 + ℓ2 + ℓ3 + ℓ4 + ℓ5 + ℓ6
● Average axial load in the negative direction
Since the load direction varies, calculate the average axial load while assuming Fa1, 2, 6 = 0N.
3
Fa3 × ℓ3 + Fa4 × ℓ4 + Fa5 × ℓ5 = 225 N

3 3 3
Fam2 =
ℓ1 + ℓ2 + ℓ3 + ℓ4 + ℓ5 + ℓ6
Since Fam1 = Fam2, assume the average axial load to be Fam = Fam1 = Fam2 = 225 N.
Nominal Life
Load factor fW= 1.5 (see Table2 on B15-48)
Average load Fm= 225 N
Nominal life L10m (rev)
3
L10m = α× Ca(
Fam ) × 10 6
1
α=
fW
Assumed model Dynamic load rating Nominal life
number Ca(N) L10m(rev)
WTF 2040-2 5400 4.1×109
WTF 2040-3 6600 7.47×109
WTF 3060-2 11800 4.27×1010
WTF 3060-3 14500 7.93×1010
B15-76
513-1E
Point of Selection
Average Revolutions per Minute

Number of reciprocations per minute n =8min-1
Stroke ℓS=1000 mm
● Lead: Ph = 40 mm
2 ×n ×ℓs 2 × 8 × 1000
Nm = = = 400 min–1
Ph 40
● Lead: Ph = 60 mm
2 ×n ×ℓs 2 × 8 × 1000
Nm = = = 267 min–1
Ph 60
Calculating the Service Life Time on the Basis of the Nominal Life
● WTF2040-2
Nominal life L10m=4.1×109 rev
Average revolutions per minute Nm = 400 min-1
L10m 4.1 × 109

Lh = = = 171000 h
60 × Nm 60 × 400
● WTF2040-3
7.47× 109
Ball Screw
L10m
Lh = = = 311000 h
60 × Nm 60 × 400
● WTF3060-2
L10m 4.27× 1010

Lh = = = 2670000 h
60 × Nm 60 × 267
● WTF3060-3
L10m 7.93× 1010

Lh = = = 4950000 h
60 × Nm 60 × 267
B15-77
513-1E
Calculating the Service Life in Travel Distance on the Basis of the Nominal Life
● WTF2040-2
Lead Ph= 40 mm
LS = L10m × Ph× 10-6 = 164000 km
● WTF2040-3
Lead Ph= 40 mm
LS = L10m × Ph× 10-6 = 298800 km
● WTF3060-2
Lead Ph= 60 mm
LS = L10m × Ph× 10-6 = 2562000 km
● WTF3060-3
Lead Ph= 60 mm
LS = L10m × Ph× 10-6 = 4758000 km
With all the conditions stated above, the following models satisfying the desired service life time of
30,000 hours are selected.
WTF 2040-2
WTF 2040-3
WTF 3060-2
WTF 3060-3
B15-78
513-1E
Point of Selection
[Studying the Rigidity]

Since the conditions for selection do not include rigidity and this element is not particularly neces-
sary, it is not described here.
[Studying the Positioning Accuracy]

 Studying the Lead Angle Accuracy
Accuracy grade C7 was selected in Section [Selecting Lead Angle Accuracy and Axial Clearance]
on B15-70.
 Studying the Axial Clearance

Since positioning is performed in a given direction only, axial clearance is not included in the positioning
accuracy. As a result, there is no need to study the axial clearance.
WTF2040: axial clearance: 0.1 mm
WTF3060: axial clearance: 0.14 mm
 Studying the Axial Rigidity

Since the load direction does not change, it is unnecessary to study the positioning accuracy on the
basis of the axial rigidity.
 Studying the Thermal Displacement through Heat Generation

Assume the temperature rise during operation to be 5℃.
The positioning accuracy based on the temperature rise is obtained as follows:
ℓ = ×t ×ℓ
= 12 × 10–6× 5 × 1000
Ball Screw
= 0.06 mm
 Studying the Orientation Change during Traveling

Since the ball screw center is 150 mm away from the point where the highest accuracy is required, it
is necessary to study the orientation change during traveling.
Assume that pitching can be done within 10 seconds because of the structure. The positioning er-
ror due to the pitching is obtained as follows:
a = ℓ× sin
= 150 × sin (10´´)
=  0.007 mm
Thus, the positioning accuracy (p) is obtained as follows:
0.05×1000
Δp = 0.007 + 0.06 = 0.234 mm
300
Since models WTF2040-2, WTF2040-3, WTF3060-2 and WTF3060-3 meet the selection require-
ments throughout the studying process in Section [Selecting Lead Angle Accuracy and Axial Clear-
ance] on B15-70 to Section [Studying the Positioning Accuracy] on B15-79, the most
compact model WTF2040-2 is selected.
B15-79
513-1E
[Studying the Rotational Torque]

 Friction Torque Due to an External Load
The friction toruque is obtained as follows:
Fa•Ph 17× 40
T1 = •A = × 1 = 120 N •mm
2π•η 2×π ×0.9
 Torque Due to a Preload on the Ball Screw

The Ball Screw is not provided with a preload.
 Torque Required for Acceleration

Inertial Moment
Since the inertial moment per unit length of the screw shaft is 1.23 × 10-3 kg•cm2/mm (see the spec-
ification table), the inertial moment of the screw shaft with an overall length of 1200 mm is obtained
as follows.
Js = 1.23 × 10–3× 1200 = 1.48 kg • cm2
= 1.48 × 10‒4 kg • m2
2 2
Ph 40
( • A × 10 + Js • A = (60+20)
) ( )
2 –6 2 2 –6 –4 2
J = (m1 + m2) ×1 ×10 +1.48× 10 ×1
2× π 2×π
–3 2
= 3.39 ×10 kg• m
Angular acceleration:
2π• Nm 2π× 1500

ω′ = 60 • t1 = 60 × 0.15 = 1050 rad/s
2
Based on the above, the torque required for acceleration is obtained as follows.
T2 = (J + Jm) ×´ = (3.39 × 10–3 + 1 × 10–3) × 1050 = 4.61N • m
= 4.61 × 103 N • mm
Therefore, the required torque is specified as follows.
During acceleration
Tk = T1 + T2 = 120 + 4.61×103 = 4730 N • mm
During uniform motion
Tt = T1 = 120 N • mm
During deceleration
Tg = T1– T2 = 120 – 4.61×103 = – 4490 N • mm
B15-80
513-1E
Point of Selection
[Studying the Driving Motor]

 Rotational Speed
Since the Ball Screw lead is selected based on the rated rotational speed of the motor, it is unneces-
sary to study the rotational speed of the motor.
Maximum working rotational speed : 1500 min–1
Rated rotational speed of the motor: 3000 min–1
 Minimum Feed Amount

As with the rotational speed, the Ball Screw lead is selected based on the encoder normally used for
an AC servomotor. Therefore, it is unnecessary to study this factor.
Encoder resolution: 1000 p/rev.
Doubled: 2000 p/rev
 Motor Torque
The torque during acceleration calculated in Section [Studying the Rotational Torque] on B15-
80 is the required maximum torque.
Tmax = 4730 N • mm
Therefore, the instantaneous maximum torque of the AC servomotor needs to be at least 4,730
N-mm.
 Effective Torque Value

The selection requirements and the torque calculated in Section [Studying the Rotational Torque] on
B15-80 can be expressed as follows.
During acceleration:
Ball Screw
Tk = 4730 N • mm
t1 = 0.15 s
During uniform motion:
Tt = 120 N • mm
t2 = 0.85 s
During deceleration:
Tg = 4490 N • mm
t3 = 0.15 s
When stationary:
TS = 0
t4 = 2.6 s
The effective torque is obtained as follows, and the rated torque of the motor must be 1305 N•mm or
greater.
2 2 2 2 2 2 2
Tk t1
Tt t2 Tg t3 Ts t4 4730 0.15 120 0.85 4490 0.15 0
Trms
t1 t2 t3 t4 0.15 0.85 0.15 2.6
1305 N mm
B15-81
513-1E
 Inertial Moment
The inertial moment applied to the motor equals to the inertial moment calculated in Section [Studying
the Rotational Torque] on B15-80.
J = 3.39 × 10–3 kg • m2
Normally, the motor needs to have an inertial moment at least one tenth of the inertial moment ap-
plied to the motor, although the specific value varies depending on the motor manufacturer.
Therefore, the inertial moment of the AC servomotor must be 3.39 × 10–4kg-m2 or greater.
The selection has been completed.
B15-82
513-1E
Point of Selection
Vertical Conveyance System

[Selection Conditions]
Table Mass m1 =40kg
Work Mass m2 =10kg
Stroke length ℓs= 600mm
Maximum speed Vmax=0.3m/s
Number of reciprocations per minute
n =5min-1
Backlash 0.1mm
Positioning accuracy 0.7mm/600mm
Positioning accuracy repeatability
0.05mm
Minimum feed amount s = 0.01mm/pulse 600
Service life time 20000h
Driving motor AC servo motor
Rated rotational speed: 3,000 min-1
m2
Inertial moment of the motor
Jm =5×10–5 kg•m2
Reduction gear None (direct coupling)
Frictional coefficient of the guide surface m1
Ball Screw
 =0.003 (rolling)
Guide surface resistance
f=20 N (without load)
[Selection Items]
Screw shaft diameter
Lead
Nut model No.
Accuracy
Axial clearance
Screw shaft support method
Driving motor
B15-83
513-1E
[Selecting Lead Angle Accuracy and Axial Clearance]

 Selecting the Lead Angle Accuracy
To achieve positioning accuracy of 0.7mm/600mm:
±0.7 ±0.35
=
600 300
The lead angle accuracy must be 0.35mm/300 mm or higher.
Therefore, the accuracy grade of the Ball Screw (see Table1 on B15-20) needs to be C10
(travel distance error: 0.21 mm/300 mm).
Accuracy grade C10 is available for low priced, Rolled Ball Screws. Assume that a Rolled Ball Screw
is selected.
 Selecting the Axial Clearance

The required backlashes is 0.1 mm or less. However, since an axial load is constantly applied in a
single direction with vertical mount, the axial load does not serve as a backlash no matter how large
it is.
Therefore, a low price, rolled Ball Screw is selected since there will not be a problem in axial clear-
ance.
[Selecting a Screw Shaft]

 Assuming the Screw Shaft Length
Assume the overall nut length to be 100 mm and the screw shaft end length to be 100 mm.
Therefore, the overall length is determined as follows based on the stroke length of 600mm.
600 + 200 = 800 mm
Thus, the screw shaft length is assumed to be 800 mm.
 Selecting the Lead

With the driving motor’s rated rotational speed being 3,000 min–1 and the maximum speed 0.3 m/s, the
Ball Screw lead is obtained as follows:
0.3×60×1000
= 6 mm
3000
Therefore, it is necessary to select a type with a lead of 6mm or longer.
In addition, the Ball Screw and the motor can be mounted in direct coupling without using a reduc-
tion gear. The minimum resolution per revolution of an AC servomotor is obtained based on the
resolution of the encoder (1,000 p/rev; 1,500 p/rev) provided as a standard accessory for the AC
servomotor, as indicated below.
2000 p/rev(doubled)
3000 p/rev(doubled)
B15-84
513-1E
Point of Selection
To meet the minimum feed amount of 0.010mm/pulse, which is the selection requirement, the follow-
ing should apply.
Lead 6mm —— 3000 p/rev
8mm —— 4000 p/rev
10mm —— 1000 p/rev
20mm —— 2000 p/rev
40mm —— 2000 p/rev
However, with the lead being 6 mm or 8 mm, the feed distance is 0.002 mm/pulse, and the starting pulse of
the controller that issues commands to the motor driver needs to be at least 150 kpps, and the cost of the
controller may be higher.
In addition, if the lead of the Ball Screw is greater, the torque required for the motor is also greater, and
thus the cost will be higher.
Therefore, select 10 mm for the Ball Screw lead.
 Selecting the Screw Shaft Diameter

Those Ball Screw models that meet the lead being 10 mm as described in Section [Selecting Lead
Angle Accuracy and Axial Clearance] on B15-84 and Section [Selecting a Screw Shaft] on
B15-84 (see Table20 on B15-35) are as follows.
Shaft diameter Lead
15mm —— 10mm
20mm —— 10mm
25mm —— 10mm
Accordingly, the combination of a screw shaft diameter of 15 mm and a lead 10 mm is selected.
Ball Screw
 Selecting the Screw Shaft Support Method
Since the assumed Ball Screw has a stroke length of 600 mm and operates at a maximum speed
of 0.3 m/s (Ball Screw rotational speed: 1,800 min-1), select the fixed-supported configuration for the
screw shaft support.
B15-85
513-1E

Calculating the Maximum Axial Load
Guide surface resistance f=20 N (without load)
Table Mass m1 =40 kg
Work Mass m2 =10 kg
Maximum speed Vmax=0.3 m/s
Accordingly, the required values are obtained as follows.
Acceleration
Vmax
α= = 1.5 m/s2
t1
During upward acceleration:
Fa1 = (m1 + m2) •g + f + (m1 + m2) • = 585 N
During upward uniform motion:
Fa2 = (m1 + m2) •g + f = 510 N
During upward deceleration:
Fa3 = (m1 + m2) •g + f – (m1 + m2) • = 435 N
During downward acceleration:
Fa4 = (m1 + m2) •g – f – (m1 + m2) • = 395 N
During downward uniform motion:
Fa5 = (m1 + m2) •g – f = 470 N
During downward deceleration:
Fa6 = (m1 + m2) •g – f + (m1 + m2) • = 545 N
Thus, the maximum axial load applied on the Ball Screw is as follows:
Famax = Fa1 = 585 N
Buckling Load of the Screw Shaft

Factor according to the mounting method 2=20 (see B15-38)
Since the mounting method for the section between the nut and the bearing, where buckling is
to be considered, is “fixed-fixed: ”
Distance between two mounting surfaces ℓa=700 mm (estimate)
4 4
d1 12.5
P1 = η2 •
4 4
2 × 10 = 20× 2 × 10 = 9960 N
ℓa 700
Permissible Compressive and Tensile Load of the Screw Shaft
P2 = 116d12 = 116 × 12.52 = 18100 N
Thus, the buckling load and the permissible compressive and tensile load of the screw shaft are at
least equal to the maximum axial load. Therefore, a Ball Screw that meets these requirements can
be used without a problem.
B15-86
513-1E
Point of Selection
 Studying the Permissible Rotational Speed

Maximum Rotational Speed
Lead Ph= 10 mm
3
Vmax × 60× 10 –1
Nmax = = 1800 min
Ph
Permissible Rotational Speed Determined by the Dangerous Speed of the Screw Shaft
Factor according to the mounting method 2=15.1 (see B15-40)
Since the mounting method for the section between the nut and the bearing, where dangerous
speed is to be considered, is “fixed-supported: ”
Distance between two mounting surfaces ℓb=700 mm (estimate)
d1 12.5
N1 = λ2×
7 7 –1
10 = 15.1× 2 × 10 = 3852 min
ℓb
2
700
Permissible Rotational Speed Determined by the DN Value
● Screw shaft diameter: 15mm; lead: 10mm (large lead Ball Screw)
70000 70000 –1
N2 = = = 4444 min
D 15.75
Ball Screw
Thus, the dangerous speed and the DN value of the screw shaft are met.
B15-87
513-1E
[Selecting a Nut]
 Selecting a Nut Model Number
The Rolled Ball Screw with a screw shaft diameter of 15 mm and a lead of 10 mm is the following
large-lead Rolled Ball Screw model.
BLK1510-5.6
(Ca=9.8 kN, C0a=25.2 kN)

Assuming that an impact load is applied during an acceleration and a deceleration, set the static
safety factor (fS) at 2 (see Table1 on B15-47).
C 0a 25.2
Famax = = = 12.6 kN = 12600 N
fS 2
The obtained permissible axial load is greater than the maximum axial load of 585 N, and therefore,
there will be no problem with this model.
 Studying the Service Life

Calculating the Travel Distance
● Travel distance during acceleration
Vmax • t1 0.3× 0.2
ℓ1, 4 = × 103 = × 103 = 30 mm
2 2
● Travel distance during uniform motion
Vmax • t1 + Vmax • t3 0.3 × 0.2 + 0.3×0.2
ℓ2, 5 = ℓS – × 103 = 600 – × 103 = 540 mm
2 2
● Travel distance during deceleration
Vmax • t3 0.3 ×0.2

ℓ3, 6 = × 103 = × 103 = 30 mm
2 2
Based on the conditions above, the relationship between the applied axial load and the travel dis-
tance is shown in the table below.
Applied axial load Travel distance

Motion
FaN(N) ℓN(mm)
No1: During upward acceleration 585 30
No2: During upward uniform motion 510 540
No3: During upward deceleration 435 30
No4: During downward acceleration 395 30
No5: During downward uniform motion 470 540
No6: During downward deceleration 545 30
＊ The subscript (N) indicates a motion number.
B15-88
513-1E
Point of Selection
Average Axial Load

3
(Fa1 •ℓ1 + Fa2 •ℓ2 + Fa3 •ℓ3 + Fa4 •ℓ4 + Fa5 •ℓ5 + Fa6 •ℓ6) = 492 N
1 3 3 3 3 3 3
Fam =
2× ℓS
Nominal Life
Dynamic load rating Ca= 9800 N
Load factor fW= 1.5 (see Table2 on B15-48)
Average load Fam= 492 N
Nominal life L10 (rev)
3 3
L10m = α× Ca
Fam( ) 6
× 10 = ( 9800
1.5 × 492 ) × 10 = 2.34 × 10 rev
6 9
1
α=
fW
Average Revolutions per Minute
Number of reciprocations per minute n = 5 min-1
Stroke ℓS=600 mm
Lead Ph= 10 mm
2 ×n ×ℓs 2 × 5× 600
Nm = = = 600 min–1
Ph 10
Calculating the Service Life Time on the Basis of the Nominal Life
Ball Screw
L10m 2.34 × 109
60 • Nm
Lh = = = 65000 h
60 × 600
Calculating the Service Life in Travel Distance on the Basis of the Nominal Life
Lead Ph= 10 mm
LS = L10m × Ph× 10-6 = 23400 km
With all the conditions stated above, model BLK1510-5.6 satisfies the desired service life time of
20,000 hours.
B15-89
513-1E
[Studying the Rigidity]

Since the conditions for selection do not include rigidity and this element is not particularly neces-
sary, it is not described here.
[Studying the Positioning Accuracy]

 Studying the Lead Angle Accuracy
Accuracy grade C10 was selected in Section [Selecting Lead Angle Accuracy and Axial Clearance]
on B15-84.
 Studying the Axial Clearance

Since the axial load is constantly present in a given direction only because of vertical mount, there is
no need to study the axial clearance.
 Studying the Axial Rigidity

Since the lead angle accuracy is achieved beyond the required positioning accuracy, there is no
need to study the positioning accuracy determined by axial rigidity.
 Studying the Thermal Displacement through Heat Generation

Since the lead angle accuracy is achieved beyond the required positioning accuracy, there is no
need to study the positioning accuracy determined by the heat generation.
 Studying the Orientation Change during Traveling

Since the lead angle accuracy is achieved at a much higher degree than the required positioning ac-
curacy, there is no need to study the positioning accuracy.
[Studying the Rotational Torque]

 Frictional Torque Due to an External Load
Fa2 • Ph 510 × 10
T1 = = = 900 N•mm
2× π×η 2 ×π × 0.9
Fa5• Ph 470 × 10
T2 = = = 830 N•mm
2× π×η 2 ×π × 0.9
 Torque Due to a Preload on the Ball Screw

The Ball Screw is not provided with a preload.
B15-90
513-1E
Point of Selection
 Torque Required for Acceleration

Inertial Moment:
Since the inertial moment per unit length of the screw shaft is 3.9 × 10-4 kg•cm2/mm (see the speci-
fication table), the inertial moment of the screw shaft with an overall length of 800mm is obtained as
follows.
JS = 3.9 × 10–4× 800 = 0.31 kg • cm2
= 0.31 × 10‒4 kg • m2
2 2
Ph 10
( • A × 10 + Js • A = (40+10)
) ( )
2 –6 2 2 –6 –4 2
J = (m1 + m2) ×1 ×10 +0.31×10 ×1
2 ×π 2×π
–4 2
= 1.58× 10 kg• m
Angular acceleration:
2π • Nmax 2π× 1800
ω′ = 60• t = 60× 0.2 = 942 rad/s2
Based on the above, the torque required for acceleration is obtained as follows.
T3 = (J + Jm) •´ = (1.58 × 10–4 + 5 × 10–5) × 942 = 0.2 N•m = 200 N•mm
Therefore, the required torque is specified as follows.
Tk1 = T1 + T3 = 900 + 200 = 1100 N•mm
Tt1 = T1 = 900 N•mm
Ball Screw
Tg1 = T1– T3 = 900 – 200 = 700 N•mm
Tk2 = 630 N•mm
Tt2 = 830 N•mm
Tg2 = 1030 N•mm
B15-91
513-1E
[Studying the Driving Motor]

 Rotational Speed
Since the Ball Screw lead is selected based on the rated rotational speed of the motor, it is unneces-
sary to study the rotational speed of the motor.
Maximum working rotational speed : 1800 min–1
Rated rotational speed of the motor: 3000 min–1
 Minimum Feed Amount

As with the rotational speed, the Ball Screw lead is selected based on the encoder normally used for
an AC servomotor. Therefore, it is unnecessary to study this factor.
Encoder resolution: 1000 p/rev.
 Motor Torque
The torque during acceleration calculated in Section [Studying the Rotational Torque] on B15-
90 is the required maximum torque.
Tmax = Tk1 = 1100 N•mm
Therefore, the maximum peak torque of the AC servomotor needs to be at least 1100 N-mm.
 Effective Torque Value

The selection requirements and the torque calculated in Section [Studying the Rotational Torque] on
B15-90 can be expressed as follows.
Tk1 = 1100 N•mm
t1 = 0.2 s
Tt1 = 900 N•mm
t2 = 1.8 s
Tg1 = 700 N•mm
t3 = 0.2 s
Tk2 = 630 N•mm
t1 = 0.2 s
Tt2 = 830 N•mm
t2 = 1.8 s
Tg2 = 1030 N•mm
t3 = 0.2 s
When stationary(m2=0):
TS = 658 N•mm
t4 = 7.6 s
B15-92
513-1E
Point of Selection
The effective torque is obtained as follows, and the rated torque of the motor must be 743 N•mm or
greater.
Tk12 • t1 ＋ Tt12 • t2＋ Tg12 • t3＋ Tk22 • t1＋ Tt22 • t2＋ Tg22 •t3＋Ts2 •t4
Trms =
t1 ＋ t2 ＋ t3＋ t1＋ t2 ＋ t3＋ t4
11002 ×0.2＋9002 ×1.8＋7002 ×0.2＋6302 ×0.2＋8302 ×1.8＋10302 ×0.2＋6582 ×7.6
=
0.2 ＋ 1.8 ＋ 0.2 ＋ 0.2 ＋ 1.8＋ 0.2＋7.6
= 743 N• mm
 Inertial Moment
The inertial moment applied to the motor equals to the inertial moment calculated in Section [Studying
the Rotational Torque] on B15-90.
J = 1.58 × 10–4 kg • m2
Normally, the motor needs to have an inertial moment at least one tenth of the inertial moment ap-
plied to the motor, although the specific value varies depending on the motor manufacturer.
Therefore, the inertial moment of the AC servomotor must be 1.58 × 10–5kg-m2 or greater.
The selection has been completed.
Ball Screw
B15-93
513-1E
B15-94

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513-1E

Examples of Selecting a Ball Screw

[Selecting Lead Angle Accuracy and Axial Clearance]

 Selecting Axial Clearance

[Selecting a Screw Shaft]

 Selecting a Screw Shaft Diameter

 Studying the Permissible Axial Load

Buckling Load on the Screw Shaft

Permissible Compressive and Tensile Load of the Screw Shaft

 Studying the Permissible Rotational Speed

Permissible Rotational Speed Determined by the DN Value

 Studying the Permissible Axial Load

Calculating the Travel Distance

Applied axial load Travel distance

Average Axial Load

Fa3 × ℓ3 + Fa4 × ℓ4 + Fa5 × ℓ5 = 225 N

Average Revolutions per Minute

L10m 4.1 × 109

L10m 4.27× 1010

L10m 7.93× 1010

[Studying the Rigidity]

[Studying the Positioning Accuracy]

 Studying the Axial Clearance

 Studying the Axial Rigidity

 Studying the Thermal Displacement through Heat Generation

 Studying the Orientation Change during Traveling

[Studying the Rotational Torque]

 Torque Due to a Preload on the Ball Screw

 Torque Required for Acceleration

2π• Nm 2π× 1500

[Studying the Driving Motor]

 Minimum Feed Amount

 Effective Torque Value

The selection has been completed.

Vertical Conveyance System

[Selecting Lead Angle Accuracy and Axial Clearance]

 Selecting the Axial Clearance

[Selecting a Screw Shaft]

 Selecting the Lead

 Selecting the Screw Shaft Diameter

 Studying the Permissible Axial Load

Buckling Load of the Screw Shaft

 Studying the Permissible Rotational Speed

 Studying the Permissible Axial Load

 Studying the Service Life

Vmax • t3 0.3 ×0.2

Applied axial load Travel distance

Average Axial Load

[Studying the Rigidity]

[Studying the Positioning Accuracy]

 Studying the Axial Clearance

 Studying the Axial Rigidity

 Studying the Thermal Displacement through Heat Generation

 Studying the Orientation Change during Traveling

[Studying the Rotational Torque]

 Torque Due to a Preload on the Ball Screw

 Torque Required for Acceleration

[Studying the Driving Motor]