FC-04  2

[Technical Calculations]
Selection of Ball Screws 1
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 Example of Selection of Ball Screws (For X-Axis of Orthogonal Robot)  Reference Formulas (6) Buckling Load(Pk)Derived with Euler's Equations of Motion
(1)Mean Axial Load(Pm) (2)Mean Revolution Frequency(Nm) nπ 2EI
Condition of Use (t 1+t 2+t 3=100%) P k= (N) …………………………………………………………………… (6)
Work ℓ2
•Work & Table Mass W=50(kg) Axial Load Revolutions Frequency Operating Time Ratio
•Maximum Strokes Smax.=720(mm) Tape Couplings Start-up Motor Where:
P1N(Max.) N1 min-1 t 1%
•Threading Speed Vmax.=1000(mm/s) Pk :  Load at Buckling Moment(N)
•Acceleration Constant t=0.15(s) P2N(Normal) N2 min-1 t 2%
N3 min-1 t 3% ℓ :  Distance between Points of Buckling Load(mm)
•Positioning Precision ±0.1/720(mm) P3N(Min.)
•Repeat Accuracy ±0.01(mm) E :  Young's Modulus(2.06×105N/mm2)
•Life Span Lh=30000hrs  I :  Min. Geometrical Moment of Inertia of Across Root Thread Area(mm4)
•Direct Acting Guide Coefficient of Friction
•Driving Motor
μ=0.02
Nmax.=3000(min-1)

P m=
(
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 ) (N) ���������������� (1)
I=

π 4
64
d
•Duty Cycle Model Diagram N 1 t 1 +N 2 t 2 +N 3 t 3
N m= (min -1)  ������������������� (2) d :  Thread Root Diameter(mm)
V 240mm(Stroke) 720mm Distance of Supports(Critical Speed:Fixed-Support) ℓ2 t 1 +t 2 +t 3 n :  Coefficient Determined by Method of Screw Support
mm/s 1000mm/s If little difference is obtained between the maximum(P 1 )and Support-Support  n=1
minimum(P 3 )axial loads, or if the load change is almost linear, Fixed-Support  n=2
Fixed-Fixed  n=4
an approximated value can be obtained with the following formula.
0.15 0.09 0.15 0.51 0.15 0.57 0.15 0.53 Fixed-Free  n=0.25
s 2P 1 +P 3
0.9 P m≈ (N)
3
Distance between Load Acting Points(Buckling Load:Fixed-Fixed) ℓ1 (7) Allowable Axial Load(P)for Buckling Load
0.9×3=2.7 1.4
(3) Life Span Hours P= P k (N) ………………………………………………………………………………… (7)
4.1(1 Cycle)
Where:

(
10 6     C
)
3

1.Setting Lead(L) 3.Allowable Buckling Load Critical Speed L h= (hrs) �������������������� (3) Pk :  :Buckling Load(N)
60N m   P mf w
: Safety Factor( =0.5)
Set lead based on maximum motor revolutions and threading speed. Use the following formula. Investigation of full length of thread shaft(L), critical speed(Nc), and buckling load(Pk) Where:
For higher safety, a higher safety factor should be
Vmax×60 Lh : Life Span Hours(hrs)
L≥ =20(mm)   required.
Nmax C : Basic Dynamic Load rating(N)
L=Maximum Strokes+Nut length+Margin+Dimensions of Both Ends Pm : Mean Axial Load(N)
2.Calculating Basic Dynamic Load Rating
=720+62+60+78=920(mm) Nm: Mean Revolution Frequency(min)-1 Driving Torque
Examines the required basic dynamic load rating and the allowable fw : Work Factor This selection provides a guide for selecting ball screw frictional properties and the driving motor.
revolution frequency(DmN Value) Impactless Run fw = 1.0~1.2
Check allowable axial load in terms of buckling load. Assuming the distance Normal Run fw = 1.2~1.5
(A) In Acceleration  Friction and Efficiency
Vmax between load acting points Run with Impact fw = 1.5~2.0 Ball screw efficiency can be expressed in the following formulas; wherein is the coefficient of friction
Acceleration( )= ×10 -3=6.7(m/s 2) The basic dynamic load rating that satisfies the set life span
t ℓ1=820, the following is obtained from formulas (6) and (7) on P.2800. and μ is the screw's lead angle. Variables are determined through analysis of a dynamic model.
Axial Load(Pa)=W +μWg≈343(N) hours is expressed by the following formula.
•When rotational force is converted into axial force(Forward Action)
(g:Gravitational Acceleration9.8m/s 2)
(B) At Constant Speed
Pk=7220(N)

C=
( 60L h N m
10 6  ) P m f w (N)

=
1-μ tan ß
…………………………………………………………………… (1)
Setting life span hours longer than what is actually necessary not only 1+μ/tan ß
Axial Load(Pb)=μWg≈10(N)
This satisfies the conditions of use. requires a larger ball screw, but also increases the price.
(C) In Deceleration •When axial force is converted into rotational force (Reverse Action)
To calculate critical speed, assuming the distance of supports ℓ2=790 In general, the following standards are used for life span hours:
Axial Load(Pc)=W -μWg≈324(N) Machine Tools:20,000hrs Automatic Control Equipment:15,000hrs
the following is obtained from the formula (5)(Fixed-Support)on P.2800. 1-μ/tan ß
Industrial Machinery:10,000hr Measuring Instruments:15,000hrs ’= …………………………………………………………………… (2)
Operating Hour(s)Per 1 Cycle for Each Operating 1+μ tan ß
(4) Allowable Revolution Frequency(DmN)
Operating Pattern (A) (B) (C) Total Operating Time Nc=3024(min-1)
DmN≤70000(Precision Ball Screws)……………………………………………………… (4)  Load Torque
DmN≤50000(Rolled Ball Screws) The load torque(constant speed driving torque) required in drive source design(motors,
Operating Time 0.60 0.84 0.60 2.04 Ball Dia. A Value
This satisfies the conditions of use. Where: 1.5875 0.3 etc.)is calculated as follows.
Load Conditions for a Lead of 20 2.3812 0.6 •Forward Action
Dm:Thread outer diameter(mm)+A Value 3.175 0.8 Torque required when converting rotational force into axial force
Operating Pattern (A) (B) (C) 4.Design Precision 4.7625 1.0
N :Maximum Revolution Frequency(min )
-1
6.35 1.8 PL
Axial Load 343N 10N 324N Investigation of Precision Class and Axial Play T= (N·cm) ……………………………………………………………… (3)
(5) Critical Speed(Nc) 2π
According to the tolerance values for lead accuracy(P.535), the class of Where:
Revolutions Frequency 1500min-1 3000min-1 1500min-1
60 2 EI T : Load Torque(N·cm)
Operating Time Ratio 29.4% 41.2% 29.4% positioning precision ±0.1/720mm is C5(Accumulative typical lead N c =fa ×10 3 (min -1) ……………………………………… (5)
2π ℓ 2 A P : External Axial Load(N)
errors=0.035 Fluctuation=0.025)
Where: L : Ball Screw Lead(cm)
Calculating the mean axial load(Pm), and the mean turns(Nm)
Axial play is max. 0.005 less than the repeated positioning precision of ℓ :  Distance of Supports(mm) : Ball Screw Efficiency(0.9)
by load conditions(P.2800(1),(2)) fa :  :Safety Factor(0.8)
±0.01.
Pm=250(N) Nm=2118(min-1) E :  Young's Modulus(2.06×105N/mm2) •Reverse Action
Calculation of the required basic dynamic load rating(C) I :  Min. Geometrical Moment of Inertia of Across Root Thread Area(mm4) External axial load when converting axial force into rotational
5.Results of the Selection of Ball Screws and Support Units π 4
The actual life span in running(Lho), which excludes downtime, is as follows: I= d 2π T
From the previous calculations, the best selection of 64 P= (N) …………………………………………………………………… (4)
d :  Thread Root Diameter(mm) 'L
L ho=30000
2.04
4.1(=14927(Time)) the ball screw is Part No.
:  Specific Gravity(7.8×10–6kg/mm3)
Where:
P : External Axial Load(N)
Insert the work factor fw=1.2 into the formula of deformation A :  Root Thread Section Area(mm2) T : Load Torque(N·cm)
BSS1520-950
given on P.2800 to select a suitable ball screw from P.554 π 2 L : Ball Screw Lead(cm)
A= d
4 ' : Ball Screw Efficiency(0.9)
C= ( 60L hoN m
10 6 ) ×P m×f w=3700(N) The best support unit is Part No. BSW 12.
:  Coefficient Determined by Method of Screw Support
Support-Support =π •Friction Torque Caused by Preloading
The suitable ball screw should be BSS1520. Fixed-Support =3.927 This is a torque generated by preloading. As external loads increase, the preload of the
Fixed-Fixed =4.730 nut is released and therefore the friction torque by preloading also decreases.
Next, look at the DmN values(P.2800(4)) as the allowable revolution frequency.
Fixed-Free  =1.875
For DmN≤70000, DmN=15.8×3000=47400. This is within the allowable range.
2799 Therefore, proceed to the following investigation using this size of ball screw.
2800

FC-04-1_E+.indd 2799-2800 08.4.22 7:43:13 PM