BALLSCREW CATALOG

ISO 9001 CERTIFIED

PRECISION MOTION INDUSTRIES, INC.

71, LANE 20, DAFU ROAD, SHEN KANG HSIANG,
TAICHUNG HSIEN 429, TAIWAN
TEL: +886-4-2528-2984
FAX: +886-4-2528-3392
E-mail: pmi.info@pmi-amt.com.tw
http://www.pmi-amt.com

The World's Best Ballscrews You Can Trust

CONTENTS
1. Introduction 1

2. Features of PMI Ballscrews 3

3. Lead Accuracy and Torque

3.1 Lead accuracy 5
3.2 Preloading torque 7
3.3 Tolerances on various areas of PMI Ballscrew 8

4. Design of Screw Shaft

4.1 Production limit length of screw shaft 9
4.2 Method for mounting 10
4.3 Permissible axial load 11
4.4 Permissible rotation speed 11
4.5 Notes on screw shaft design 12

5. Design of Ball Nut

5.1 Selecting the type of Nut 13
5.2 Calculating the axial load 13
5.3 Notes on Ball Nut design 14
6. Rigidity
6.1 Axial rigidity 15
6.2 Positioning accuracy 19
7. Life
7.1 Life of Ballscrew 20
7.2 Fatigue life 20
7.3 Permissible load on grooves 21
7.4 Materials and hardness 21
7.5 Heat Treating Inspection certificate 22
7.6 Lubrication 24
7.7 Dustproof 24
8. Driving Torque
8.1 Operating torque of Ballscrew 25
8.2 Driving torque of motor 25
9. Selecting Correct Type of Ballscrew 27
10. Nomenclature of PMI Ballscrew
10.1 Nomenclature of external circulation Ballscrew 28
10.2 Nomenclature of internal circulation Ballscrew 29

11. Sample Process of Selecting the Type of Ballscrew

11.1 C utting machine 31
11.2 High speed porterage apparatus 36
11.3 Vertical porterage apparatus 39

12. PMI Ballscrew with Hollow Cooling System 43

13. PMI Precision Ground Ballscrew

13.1 External ball circulation 47

13.2 Internal ball circulation 69

13.3 High lead 80

14. Rolled Ballscrew 87

INTRODUCTION

PMI was established in 1990.

It has been concentrated in manufacturing of Ballscrew since then.

It is PMI's important achievement as to produce high speed Ballscrews with

specially designed ball recirculating tube to ensure balls smooth running during
recirculation, hence to reduce noise. Also the special hollow cooling system to
help Ballscrews to be easily controlled in temperature raise at low cost.

In 2003, PMI established its subdivision company- Advanced Motion

Technologies, Corp. (AMT) and started to produce the Linear Guideways.

The superior techniques, good quality and high production efficiency have made
PMI one of the leading Linear motion system manufacturers in the world.

1
FEATURES of BALLSCREWS
(1) High reliability:
PMI has accumulated many years experience in production managing. It covers the whole
production sequence, from receiving the order, designing, material preparation, machining, heat
treating, grinding, assembling, inspection, packaging and delivery. The systemized managing ensures
high reliability of PMI Ballscrews.

(2) High accuracy:

PMI Ballscrews are machined, ground, assembled and Q.C. inspected under the constant
temperature control (20 ) to ensure high precision of Ballscrews. Fig.2.1 accuracy inspection
certificate.

BALLSCREW INSPECTION CERTIFICATE

Linear Motion Systems Inspected by HEWLETT PACKARD Laser Measuring System

Lead Error( m)

Travel (mm)

:Means where is Max.e and Min.e :Means where is Max.e300 and Min.e300
Cumulative representative lead T+E:-27.90 m Total relative lead deviation e: 4.84 m Lead deviation in random 300mm e300: 4.01 m
Preload torque(without wipper)Tq:3.0-3.9Kgf-cm ACCURACY GRADE: C1 REMARK:
INSPECTOR:

Fig.2.1 Accuracy inspection certificate.

(3) Long durability:

PMI Ballscrews are made of German Alloy steels, which are well quenching and tempering treated
for good rigidity, along with suitable surface hardening to ensure long durability.

3
(4) High working efficiency:
Balls are rotating inside the Ballscrew nut to offer high working efficiency. Comparing with the
traditional ACME screws, which work by friction sliding between the nut and screw, the Ballscrews
needs only 1/3 of driving torque. It is easy to transmit linear motion into rotation motion.

(5) No backlash and with high rigidity:

The Gothic profile is applied by PMI Ballscrews. It offers best contact between balls and the
grooves. If suitable preload is exerted on Ballscrew hence to eliminate clearance between the ball nut
and screw and to reduce elastic deformation, the ballscrew shall get much better rigidity and accuracy.

BALLNUT BALLNUT

SCREW SCREW

Fig.2.2 Gothic arch thread

4
LEAD ACCURACY AND TORQUE
3.1 Lead Accuracy
PMI's precision ground Ball Screws are controlled in accordance with JIS B 1192.
The permissible values and each part of definitions are shown below.

Travel length L
Lead Deviation

+
Nominal Travel

Specified Travel

T
-

(T+E) a

p
(T+E)
e
1 Rev. e

E
e 300 300mm

Actual Travel

Cumulative Representative Lead

Fig.3.1 Technical Terms Concerning the Lead

Table3.1 Terms

Cumulative representative lead.

T+E A straight line representing the tendency of the cumulative actual lead.
This is obtained by least square method and measured by laser system.

P Permissible value.

a Actual value.

Specified travel.
T This value is determined by customer and maker as it depends on different application
requirements.

Accumulated reference lead deviation.

E This is allowable deviation of specified travel. It is decided by both of the accuracy grade and
effective thread length.
Total relative lead variation
e Maximum width of variation over the travel length.

e 300 Lead deviation in random 300 mm.

Lead deviation in random 1 revolution 2 rad.

5
Table 3.2 Accumulated reference lead deviation ( E) and total relative variation (e)
Effective thread length (mm)

GRADE C0 C1 C2 C3 C4 C5 C6 C7 C10
OVER UP TO E e E e E e E e E e E e
315 4 3.5 6 5 5 7 12 8 12 12 23 18 0.025 0.050 0.120
315 400 5 3.5 7 5 7 7 13 10 14 12 25 20
400 500 6 4 8 5 8 7 15 10 16 12 27 20 300mm 300mm 300mm
500 630 6 4 9 6 9 7 16 12 18 14 30 23
630 800 7 5 10 7 10 7 18 13 20 14 35 25
800 1000 8 6 11 8 11 8 21 15 22 16 40 27
1000 1250 9 6 13 9 13 9 24 16 25 18 46 30
1250 1600 11 7 15 10 15 10 29 18 29 20 54 35
1600 2000 18 11 18 11 35 21 34 22 65 40
2000 2500 22 13 21 13 41 24 40 25 77 46
2500 3150 26 15 25 15 50 29 48 29 93 54
3150 4000 32 18 30 18 62 35 57 34 115 65
4000 5000 36 21 76 41 69 40 140 77
5000 6300 85 48 170 93

Table 3.3 Accuracy grade

Variation in random 300 mm (e300) and wobble (e2 )

e 300

GRADE C0 C1 C2 C3 C4 C5 C6 C7 C10
JIS 3.5 5 8 18 50 210
PMI 3.5 5 7 8 12 18 25 50 210

GRADE C0 C1 C2 C3 C4 C5
JIS 3 4 6 8
PMI 3 4 4 6 8 8

6
 3.2 Preloading Torque

The preloading torque of the Ball Screw is controlled in accordance with JIS B 1192.

Starting actual torque

Actual torque fluctuation (-) Torque fluctuation
Reference torque

(+)

(-) Mean actual torque

Actual torque Nut effective moving distance

Friction torque

Actual torque fluctuation (-)

Nut effective moving distance
Reference torque

(-)

(+)

Starting actual torque Actual torque Torque fluctuation

Fig.3.2 Technical terms concerning preload

: The goal in preload is to clear axial play and increase rigidity of Ballscrew.
Preload Reference to P.17
Preload torque : Torque needed to continuously turn a Ballscrew with preload with no other load applied to it.
Reference torque : Preload torque set as a goal.
Torque fluctuation : Fluctuation from a goal value of the preload torque. Defined as positive or negative in respect to the
reference torque.
Rating of torque
fluctuation
: Rating on reference torque and torque fluctuation.

Actual torque : Preloaded dynamic torque measured by using an actual value of Ball Screw.

Mean actual torque : In the effective thread length, the net reciprocate to measure the maximum actual torque and minimum
actual torque are doing count mean.
Actual torque
fluctuation : In the effective thread length, the net reciprocate to measure the maximum fluctuant value.
Rating of Actual : Rating on mean actual torque and actual torque fluctuation.
torque fluctuation

7
 Table3.4 Allowable range of preload torque

Effective Thread Length (mm)

Reference torque
4000 or less Over 4000 but less than 10000
(kgf . cm)
Slenderness ratio: 40 or less Slenderness ratio: 60 or less
Accuracy grade Accuracy grade Accuracy grade
OVER OR LESS C0 C1 C3 C5 C0 C1 C3 C5 C1 C3 C5
2 4 ̈́30% ̈́35% ̈́40% ̈́50% ̈́40% ̈́40% ̈́50% ̈́60%
4 6 ̈́25% ̈́30% ̈́35% ̈́40% ̈́35% ̈́35% ̈́40% ̈́45%
6 10 ̈́20% ̈́25% ̈́30% ̈́35% ̈́30% ̈́30% ̈́35% ̈́40% ̈́40% ̈́45%
10 25 ̈́15% ̈́20% ̈́25% ̈́30% ̈́25% ̈́25% ̈́30% ̈́35% ̈́35% ̈́40%
25 63 ̈́10% ̈́15% ̈́20% ̈́25% ̈́20% ̈́20% ̈́25% ̈́30% ̈́30% ̈́35%
63 100 ̈́15% ̈́15% ̈́20% ̈́20% ̈́25% ̈́25% ̈́30%

Reference torque

-0.5 Fao×l ....................................................

TP = 0.05 ( tan ) × (3.1)
Here
TP : Reference torque ( kgf . cm) l : Lead ( cm )

Fao : Preload ( kgf ) : Lead angle

3.3 Tolerances on Various Areas of PMI Ballscrew

5
A-A'

2 6 4 2
B-B' B-B' A-A' 2d 0 2d 0 B-B'

A A'

2d 0 2d 0 2d 0 2d 0
1 1 3 1
B-B' B-B' A-A' B-B'
B A A' B'

Those on above are samples of accuracy of tolerance on various areas of PMI Ball Screw.

: Perpendicularity Ъ:Radial runout ˂˂: Parallel A

: Reference

Accuracy on various areas of PMI Ballscrew has to measure items:

1. Radial run-out of the circumference of the screw shaft supported portion in respect to the B-B' line.
2. Perpendicularity of the screw shaft supported portion end face to the B-B' line.
3. Radial run-out of the nut circumference in respect to the A-A' line.
4. Perpendicularity of the flange mounting surface to the A-A' line.
5. Parallelism between the nut circumference to the A-A' line.
6. Overall radial run-out to the A-A' line.

Note: The mounting surface of the Ball Screw is finished to the accuracy specified in JIS B1192-1997.

8
DESIGN of SCREW SHAFT

4.1 Production Limit Length of Screw Shaft

Production limit length of precision ground Ballscrew:

When screw shaft O.D. is 10 mm , Limit length of Ballscrew is 400 mm.

When screw shaft O.D. is 80 mm , Limit length of Ballscrew is 6000 mm.

Note: Please contact with our sales people in case a very high dm . n value is required.

Production limit length of rolled Ballscrew:

When screw shaft O.D. is 14 mm , Limit length of Ballscrew is 1000 mm.

When screw shaft O.D. is 50 mm , Limit length of Ballscrew is 3000 mm.

Note: Please contact with our sales people in case a special type is required.

9
 4.2 Method for Mounting
The permissible axial load and permissible rotational speed vary with the screw-shaft mounting method used,
so the mounting method should be determined in accordance with the operating conditions.
Diagrams 4.1 through 4.3 illustrate a typical method for mounting a screw shaft.

Permissible rotational speed

Fixed Fixed

Permissible axial load

Fig.4.1 Mount method : fixed-fixed

Permissible rotational speed

Fixed Supported

Permissible axial load

Fig.4.2 Mount method : fixed-supported

Permissible rotational speed

Fixed Free

Permissible axial load

Fig.4.3 Mount method : fixed-free

10
 4.3 Permissible Axial Load

(1) Buckling load (2) Permissible tensile-compressive load of the screw

The Ballscrew to be used should not buckle shaft
under the maximum compressive load applied in
its axial direction. The buckling load can be Where the axial load is exerted on the
calculated by using equation (4.1): Ballscrew, the screw shaft to be used should be
NEI dr4 determined in consideration of the permissible
(kgf ) (4.1)
L2 L2 tensile-compressive load that can exert yielding
Here: stress on the screw shaft.
: Safety factor ( =0.5) The permissible tensile-compressive load can
: Young's modulus (E=2.1×104kgf / mm2) be calculated using equation (4.2).
: Minimum geometrical moment of inertia of the
dr 4/64 mm 4 )
screw shaft cross section (I= (4.2)
: Screw shaft thread minor diameter (mm) Here:
L : Distance between mounting positions (mm) P: Permissible tensile-compressive load (kgf )
: Permissible tensile-compressive stress (kgf/ mm 2 )
m,N : Coefficient depending on the mounting method dr: Screw-shaft thread minor diameter (mm)
supported-supported m=5.1 (N=1)
fixed-supported m=10.2 (N=2)
fixed-fixed m=20.3 (N=4)
fixed-free m=1.3 (N=1/4)

4.4 Permissible Rotational Speed

(1) Critical rotation speed:
EIg dr
n= =f 107 (rpm) (4.3)
When the rotation speed of driving motor L2
coincides with the natural frequency of feed
Here:
system (mainly the ballscrew), the resonance of
n : Permissible rational speed (rpm)
vibration shall be triggered. This rotation speed is
: Safety factor ( =0.8)
then called critical rotation speed. It shall make
: Young's modulus (E=2.1×104 kgf / mm2)
bad quality machining, since there is wave shape
: Minimum geometrical moment of inertia of the screw-
surface on the workpiece. It may also cause
shaft cross section (I= dr 4 /64 mm 4 )
damage of machine. Hence it is very important to
: Screw-shaft thread minor diameter (mm)
prevent the resonance of vibration from
L : Distance between mounting positions (mm)
happening. We choose 80% of critical rotation
g : Gravitation acceleration ( g=9.8×103 mm/s 2)
speed as allowable speed. It is shown as formula
: Specific gravity ( =7.8×10 -6 kgf/mm 3)
(4.3).
: Coefficient depending on the mounting method

It may be required to have additional supports supported-supported f=9.7

in between the ends bearing supports to make the fixed-supported f=15.1
natural frequency of Ballscrew to be higher and fixed-fixed f=21.9
hence to raise the allowable rotation speed. fixed-free f=3.4

11
(2) dm . n Value of Ballscrew:
dm is the PCD (pitch circle diameter) of screw
shaft, and n is the maximum rotation speed. The
dm.n value relates and affects the noise,
temperature raise, working life, balls circulation of
the ballscrew. In general cases, the dm.n value is
limited as follows: (See Note one)
Precision ground: dm . nЉ70000
Rolled : dm . nЉ50000
With better manufacturing technology currently,
the dm.n value is no longer limited as above. It is
even higher than 100,000. (See Note two)
4.5 Notes on Screw shaft design
(1) Through end thread:
For the Ballscrews with internal ball circulation
Ballnut, it is required to have at least one end with
complete thread to the end of Ballscrew for Ballnut
assembly to screw shaft. If it is impossible for
through end thread, it is required to have at least
one end with complete tread and the journal area is
with diameter to be 0.2mm smaller than the
diameter of thread root area.
(2) Machine design for the area of Ballnut and
ends area of Ballscrew:
It is very important to check if there is enough
space for assembly of Ballscrew onto the machine
during machine design. In some cases, there is not
enough space for assembly and the Ballnut has to
be disassembled from the screw shaft for easier
work. It may cause problems, such as the balls
falling out from Ballnut, worse accuracy of
squareness and roundout of Ballnut, change of
preload and damage to external ball circulating
tubes. In some more serious cases, the ballscrew
may be damaged and not to be used. Please
contact with our people if said above disassembling
Note one: These dm . n values are for reference only.
In fact, the dm.n value shall be decided
by the ways of end supporting and the
distance between them.
Note two: Please contact with our sales people in
case a very high dm . n value is required.
is required.
(3) Not effective hardened area:
The threads on screw shaft are hardened by
induction hardening. It shall cause about 15mm at
both ends of thread area are not hard enough. It is
required to pay attention during machine design for
the effective thread length of travel.
(4) Extra support unit for long ballscrew:
For a long ballscrew, the bending due to self
weight might happen. It may cause radial direction
load to ballscrew. The radial direction vibration
during rotation might also be more serious. To
prevent these problems from happening, it may be
required to have extra supports for ballscrew in
between the existing supports at both ends. There
are two types of supports; one is movable to move
along the Ballnut. The other one is fixed type; it is
located in a fixed position. The Table must be
designed not to hit with this support during moving.
12
DESIGN of BALLNUT

5.1 Selecting the Type of Nut

(1) Type: (3) Effective turns:
Selecting the type of Nut, please consider the Selecting effective turns have to consider motion;
accuracy; dimension (The length of Nut; internal life and rigidity. Refer to the Table 5.1.
diameter; external diameter), preload and the date
(4) Flange:
of delivery.
PMI have three standard type (A type, B type and
(2) Circulation: C type) Please make selection by area space for
a. External ball circulation nut installation. PMI can also make special flange
Advantages: as per customers' requests.
Lower noise due to longer ball circulation paths
(5) Oil hole:
Offers smoother ball running.
Standard nuts have oil hole. Please dimension in
Offers better solution and quality for long lead
the diagram to manufacture.
or large diameter ballscrews.
b. Internal ball circulation
Advantages:
Good for limited space of machine.
Better structure for small lead or small diameter
ballscrews.

Table5.1 The character of effective turns

Character External ball circulation Internal ball circulation

Motion 1.5 circuit x2 row, 1.5 circuit x3 row, 2.5 circuit x1 row 1 circuit x3 row, 1 circuit x4 row
Rigidity 2.5 circuit x2 row, 2.5 circuit x3 row 1 circuit x6 row

5.2 Calculating the Axial Load

5.2.1 Horizontal reciprocating moving mechanism

Fa: Axial load

Motion direction
W2

Sliding resistance

W1

Fig.5.1 Horizontal reciprocating moving mechanism

13
 For reciprocal operation to move work horizontally Here:
(back and forth) in an conveyance system, the axial a : Acceleration
load (Fa) can be gotten using the following equations: V max V max : Rapid feed speed
a=
t t : time
Acceleration (leftward) Fa1=Ӵ×mg+ f + ma .............( 5.1)
m : Total weight
Constant speed (leftward) Fa2=Ӵ×mg+ f .....................( 5.2)
( table weight + work piece weight )
Deceleration (leftward) Fa3=Ӵ×mg+ f - ma ..............( 5.3)
Acceleration (rightward) Fa4=-Ӵ×mg- f - ma .............( 5.4)
: Sliding surface friction coefficient
Constant speed (rightward) Fa5=-Ӵ×mg- f .....................( 5.5) f : Non-load resistance
Deceleration (rightward) Fa6=-Ӵ×mg- f + ma ..............( 5.6)

5.2.2 Vertical reciprocating moving mechanism

For reciprocal operation to move work vertically (up
and down) in an conveyance system, the axial load (Fa)

Motion direction
can be gotten using the following equations:
Acceleration (upward) Fa1=mg +Ӵ×mg+ f + ma ........( 5.7)
Constant speed (upward) Fa2=mg +Ӵ×mg+ f ................( 5.8)
Deceleration (upward) Fa3=mg +Ӵ×mg+ f - ma .........( 5.9)
Fa4=mg -Ӵ×mg- f - ma ..........( 5.10)

Sliding resistance
Acceleration (downward)
Constant speed (downward) Fa5=mg -Ӵ×mg- f ..................( 5.11) w
Deceleration (downward) Fa6=mg -Ӵ×mg- f +ma ..........( 5.12)
Fa: Axial load

Here:
a : Acceleration
V max V max : Rapid feed speed
a=
t t : time
m : Total weight
( table weight + work piece weight )
: Sliding surface friction coefficient
f : Non-load resistance

Fig.5.2 Vertical reciprocating moving mechanism

5.3 Notes on Ball Nut Design

Abnormal load: (torsional load or radial load)

When Ballscrew takes only axial load, the best performance of it shall be found; the balls on the groove
in between the Ballnut and screw shaft shall evenly take the load and rotate smoothly. In case there is
torsional load or radial load on Ballnut, this kind load shall be taken unevenly by some balls only. It shall
badly affect Ballscrew performance and even shorten ballscrew life. It is recommended to pay more
attention to the mechanism design and Ballscrew assembly.

14
RIGIDITY

6.1 Axial Rigidity

"Lost Motion" shall happen due to weakness of rigidity of screw shaft and mating components of it. In
order to get good positioning accuracy, it is necessary to consider axial and torsional rigidity of screw
shaft and mating components of it.

6.1.1 Axial rigidity of the feed-screw system

Let the axial rigidity of a feed-screw system be (2) Axial rigidity of Nut: K N
K. Then, the elastic displacement in the axial
a. Non-preload type
direction can be obtained using equation (6.1):
Computation of the elastic displacement can be
Fa ..........................................................
= (6.1) using equation (6.1):
KT
1 1 1 1 1 ......................... Q2
1/3
= + + + (6.2) C
KT KS KN KB KH = ( )........................(6.5)
Dw
Here
Here
: A constant (reference: CЍ2.4)
: Feed-screw system elastic displacement in the axial direction ( m)
: Contact angle of ball and grooved
Fa: Axial load ( kgf )
: Ball diameter (mm)
K T : Axial rigidity of the feed-screw system (kgf/ m)
: Load of each balls (Q=Fa/Z . sin kgf )
K S: Axial rigidity of the screw shaft (kgf/ m)
: Number of balls
K N: Axial rigidity of the Nut (kgf/ m)
: A coefficient of accuracy and inter conformation
K B: Axial rigidity of the support bearing (kgf/ m)
K H : Rigidity of the Nut Bracket and support bearing bracket (kgf/ m)
Dimension tables include theoretical axial
rigidity values when the axial load with a
(1) Axial rigidity of Screw shaft: K S magnitude of 30% of the basic dynamic load
The axial rigidity of a screw shaft varies rating (Ca) is exerted on the Nut. These
depending on the shaft mounting method. values, don't consider the rigidity of the Nut
KS = A×E -3 ........................................... mounting brackets. Therefore, as a general
x ×10 (6.3)
rule, take 80% of the values given in the table.
a. For fixed-supported When the axial load with a magnitude
Here other than 30% of the basic dynamic load
K S : Axial rigidity of Screw shaft (kgf/ m) rating (Ca) is exerted on the Nut, rigidity value
A : Screw shaft cross-sectional area can be calculated using equation (6.6).
(A= dr 2/4 mm 2 )
1/3
E : Young's modulus (E=2.1×10 4 kgf/mm 2 ) Fa
KN = 0.8×K ................................(6.6)
x : Distance between mounting positions (mm) 0.3Ca
Here
b. For fixed-fixed K : Rigidity value given in the dimension table
A×EL (kgf/ m)
KS = ×10-3 ...........................................(6.4)
x(L-x) Fa : Axial load (kgf )
Here Ca : Basic dynamic load rating (kgf )
K S : Axial rigidity of Screw shaft (kgf/ m)
L : Distance between mounting positions (mm)

Note: Which x=L/2, KS becomes the minimum and the elastic

displacement in the axial direction the maximum.

15
 b. Preloaded type
(3) Axial rigidity of support bearing: KB

Dimension tables include theoretical axial

The axial rigidity of the support bearings for
rigidity values when the axial load with a
the Ball Screw varies by bearing type.
magnitude of 10% of the basic dynamic load rating
A typical calculation for determining the axial
(Ca) is exerted on the Nut. These values, don't
rigidity of an angular ball bearing can be made
consider the rigidity of the Nut mounting brackets.
using equation (6.8).
Therefore, as a general rule, take 80% of the
values given in the table. 3Fao ...............................................
KB = (6.7)
When the axial load with a magnitude other ao
than 10% of the basic dynamic load rating (Ca) is
Here
exerted on the Nut, rigidity value can be calculated
ao : Displacement in the axial direction.
using equation (6.6). 1/3
1/3 2 Q2
Fao ao =
KN = 0.8 × K .....................................(6.7) Dw
×Ca ....................................(6.8)
Fao
Q= .
Here Z
K : Rigidity value given in the dimension table
(kgf/ m) : Initial contact angle of the support bearing
Fao: Preload Da : Ball diameter of the support bearing
: A coefficient of rigidity Q : Load of each balls
Z : Number of balls

(4) Axial rigidity of nut bracket and support bearing

bracket : KH

Take this into consideration in the design of

your system. Setting the rigidity as high as
possible.

6.1.2 Torsional rigidity of the feed-screw system

The factors of positions error caused by twisting are:

1. Torsional deformation of screw shaft.

2. Torsional deformation of coupling.
3. Torsional deformation of motor.

But above deformations are too small in general machine (non-high speed machine),
they are then ignored.

16
6.1.3 Ball Screw's preload and effect
In order to get high positioning accuracy, there are two ways to reach it. One is commonly known as to
clear axial play to zero. The other one is to increase Ballscrew rigidity to reduce elastic deformation while
taking axial load. Both two ways are done by preloading.

(1) Methods of preloading

a. Double-nut method: b. Single-nut method:

A spacer inserted between two nuts exerts As that illustrated on Fig. 6.3, using
a preload. There are two ways for it. oversize balls onto the space between Ballnut
One is illustrated in Fig.6.1. That is to use a and screw to get required preload. The balls
spacer with thickness complies with required shall make four-point contact with grooves of
magnitude of preload. The spacer makes the Ballnut and screw.
gap between Nut A and B to be bigger, hence
to produce a tension force on Nut A and B. It is
Lead Lead
called "extensive preload".
Nut

Direction of tension Direction of tension

Nut A Spacer Nut B

Screw

Screw

Fig.6.3 Four-point contact preload

There is another way for single nut Ball

Fig.6.1 Extensive preload
Illustrated in Fig.6.2, is using a thinner
spacer. The thickness complies with required
magnitude of preload. The spacer is smaller
than the gap between Nut A and B,
compressing Nut A and B on opposite direction
Screw preloading. That is to shift a very little
distance, which complies with required
magnitude of preload, on one lead of Ballnut
as that illustrated on Fig. 6.4. to preload Ball
Screw.
Direction of tension Direction of tension

to preload Ball Screws. It's called "compressive Lead Lead + offset Lead

preload".
Direction of compression Direction of compression
Nut

Nut A Spacer Nut B

Nut
Screw

Screw

Fig.6.2 Compressive preload Fig. 6.4 Lead offset preload

17
(2) Relation between preload force and elastic deformation Nut A Spacer Nut B

Fig 6.5, Nuts A and B are assembled with

preloading spacer. The preload forces on Nut A and B
are Fao, but with reversed direction. The elastic Fao Fao
deformation on both Nuts are .

Then there is a external axial force Fa applied to

Nut A as shown on Fig 6.6. The deformation of Nut A
and B becomes:
Fa+Fp Fp

The load in nut A and nut B are: Fa

FA=Fao+Fa-Fa'=Fa+Fp
FB=Fao- Fa'=Fp Fig.6.5 Double-nut positioning preload

It means Fa is offset with an amount Fa'

because of the deformation of Nut B decreases. As Displacement of Nut B Displacement of Nut A

a result, the elastic deformation of Nut A is

reduced. This effect shall be continued until the
deformation of Nut B becomes zero, that is, until
Axial load Fa

the elastic deformation caused by the external

axial force equals , and the preload force
applied to Nut B is completely released. The Fa
formula related the external axial force and elastic
Fao
deformation is shown as below: Fp
2/3 2/3

2/3 Displacement

F l = 2.8Fao Ѝ 3Fao Nut A Nut B

Fig.6.6 Positioning preload diagram

Therefore, the preload amount of a ballscrew is

recommended to set as 1/3 of its axial load. Too Nonpreload
much preload for a Ballscrew shall cause
Elastic Displacement

temperature raise and badly affect its life.

Parallel
However, taking the life and efficiency into
Preload
consideration, the maximum preload amount of a
Ballscrew is commonly set to be 10% of its rated
basic dynamic load.

Shown on Fig 6.7, with the axial load to be

three times as the preload, the elastic
displacement for the non-preloaded ball Nut is two 0
Fao FЍ3Fao
times as that of the preloaded Nut.
Axial load Fa

Fig.6.7 Elastic Displacement of the Ball Screw

18
 6.2 Positioning Accuracy
6.2.1 Causes of error in positioning accuracy
Lead error and rigidity of feed system are common causes of feed accuracy error. Other causes like
thermal deformation and feed system assembly are also playing important roles in feed accuracy.

6.2.2 Selecting the lead accuracy

Refer to page 5, the Specified travel line should coincide with the nominal travel line. However, in order
to compensate either the elongation caused by the thermal expansion during machine operating or the
shortening of length due to external load, the specified travel may be set to be positive or negative to the
Nominal travel. Machine designer can show the value of Specified travel on the drawing for our
manufacturing, or, we can help to decide it based on our more than ten years experience.
There is another way to compensate thermal effect by "pretension" to Ballscrew. Generally, the
pretension force shall elongate the Ballscrew to be equivalent to the thermal expansion at about 2-3 .

6.2.3 Considering thermal displacement

If the screw-shaft temperature increases during (1) To control temperature:

operation, the heat elongates the screw shaft, thereby Selecting appropriate preload.
reducing the positioning accuracy. Expansion and Selecting correct and appropriate lubricant.
shrinkage of a screw shaft due to heat can be Selecting larger lead for the Ballscrew and
calculated using equation (6.10). decrease the rotation speed.

......................................... (6.10) (2) Compulsory cooling:

Here
: Thermal displacement ( )
: Thermal-expansion coefficient (
: Screw-shaft temperature change (
: Ballscrew length (mm)
That is to say, an increase in the screw shaft
temperature of 1 expands the shaft by 12 per
meter. The higher the Ballscrew speed, the greater
the heat generation. Thus, temperature increases
reduce positioning accuracy. Where high accuracy is
required, anti-temperature-elevation measures must
be provided as follows:
Ballscrew with hollow cooling.
Lubrication liquid or cooling air can be used to
) cool down external surface of Ballscrew.
)
(3) To keep off effect upon temperature raise:
Set a negative cumulative lead target value for
the Ballscrew.
Warm up the machine to stable machine's
operating temperature.
Pretension by using on Ballscrew while
installing onto the machine.

19
LIFE

7.1 Life of the Ballscrew

Even though the Ballscrew has been used with correct manner, it shall naturally be worn out and can
no longer be used for a specified period. Its life is defined by the period from starting use to ending use
caused by nature fail.

a. Fatigue life - Time period for surface flaking off happened either on balls or on thread grooves.
b. Accuracy life - Time period for serious loosing of accuracy caused by wearing happened on thread
groove surface, hence to make Ballscrew can no longer be used.

7.2 Fatigue Life

The basic dynamic rate load (Ca) of the Ballscrew is used to calculate its fatigue life
when it is operated under a load.

7.2.1 Basic dynamic rate load Ca

The basic dynamic rate load (Ca) is the revolution of 106 that 90% of identical
Ballscrew units in a group, when operated independently of one another under
the same conditions, can achieve without developing flaking.

7.2.2 Fatigue life

(1) Calculating life:
There are three ways to show fatigue life: Table7.1 Load factor f w

a. Total number of revolutions. Vibration and impact Velocity (V) fw

b. Total operating time. Light V<15 (m/min) 1.0~1.2
c. Total travel.
Medium 15<V<60 (m/min) 1.2~1.5
3
Ca
10 .....................................(7.1)
6
L= Heavy V>60 (m/min) 1.5~3.0
Fa fw
L .................................................(7.2) Too long or too short fatigue life are not
Lt =
60 n suitable for Ballscrew selection. Using longer life
L×l ..................................................(7.3) make the Ballscrew's dimensions too large. It's
LS =
10 6 an uneconomical result. Following table is a
reference of the Ballscrew's fatigue life.
Here
L : Fatigue life (total number of revolutions) Machine center ................................20,000 hours
L t : Fatigue life (total operating time) Production machine .........................10,000 hours
L s : Fatigue life (total travel) Automatic controller ........ ................15,000 hours
Ca : Basic dynamic rate load
Surveying instruments .....................15,000 hours
Fa : Axial load
n : Rotation speed
l : Lead
f w : Load factor (refer to Table 7.1)

20
(2) Mean load:
When axial load changed constantly. It is required to calculate the mean axial load (Fm) and the mean
rotational speed (Nm) for fatigue life. Setting axial load (Fa) as Y-axis; rotational number (n.t) as X-axis.
Getting three kind curves or lines:

a. Gradational variation curve (Fig.7.1)

Mean load can be calculated by using _equation (7.4):
1
3
F13.n1 .t1 + F23.n2 .t2 + .....+ Fn3.nn .tn Axial load Rotation speed Time Ratio
Fm = ...........................(7.4) (kgf ) (rpm) (%)
n1 .t1 + n2 .t2 + .....+ nn .tn
F1 n1 t1
Mean rotational speed can be calculated by using equation (7.5): F2 n2 t2
n1 .t1 + n2 .t2 + .....+ nn .tn
Nm = ............................................(7.5)
t1 + t2 + .....+ tn nn tn
Fn
b. Similar straight line (Fig.7.2)
When mean load variation curve like similar straight line.
Mean rotational speed can be calculated using equation (7.6)
Fm=1/3(Fmin + Fmax) ....................................................... (7.6)

F F
F1 Fmax

F2
Fm
Fm

Fn
Fmin
0 0
n 1t 1 n 2t 2 n nt n

Fig. 7.1 Gradational variation curve's load Fig. 7.2 Similar straight line's load

c.Sine curve there are two cases (Fig.7.3)

1. When mean load variation curve shown as the diagram below.
Mean rotational speed can be calculated by using equation (7.7-1):
Fm= 0.65Fmax ................................................................ (7.7-1)
2. When mean load variation curve shown as the diagram below.
Mean rotational speed can be calculated by using equation (7.7-2):
Fm= 0.75Fmax ............................................................... (7.7-2)
F F

Fmax Fmax

Fm
Fm

0 0

Fig. 7.3-1 Variation like Sine curve's load (1) Fig. 7.3-2 Variation like Sine curve's load (2)

21
 7.2.3 Affection of installation errors

When twist load or radial load is applied to Ballscrew, there shall be bad effect on ballscrew operation and
its life, It is required to make the feed system (Ballscrew, support bearings, Guideways) to be more rigid.
Hence to reduce. installation errors.

Ballscrews must be meticulously installed onto the Yoke (bracket) of machine to achieve precise pallelism
and squareness along moving direction of moving parts. It is very important to ensure minimum backlash
happens.

7.3 Permissible Load on Thread Grooves

Even though the Ballscrew is seldom operated and is operated under low velocity, it is required to make
the maximum load to be far smaller than its rated basic static load when making selection.

7.3.1 Basic static rate load Co

The basic static rate load is the static load with a non-varying direction and magnitude that makes the
sum of the permanent deformation of the rolling elements and raceway 0.0001 times the rolling element
diameter. With the Ball Screw, the basic static rate load is defined in relation to the axial load.

7.3.2 Permissible axial load

F max =Co / f s
Here
f s: Static safety factor
General industrial machine ...............................1.2~2
Machine tool .....................................................1.5~3

7.4 Material and Hardness

Material and Hardness of PMI Ballscrews refer to Table 7.2

Table7.2 Material and hardness of PMI Ballscrews

Denomination Material Heat treating Hardness (RHC)

Precision ground 50CrMo4 QT Induction hardening 58~62
Rolled S55C Induction hardening 58~62
Nut SCM420H Carburized hardening 58~62

22
7.5 Heat Treating Inspection Certificate

PRECISION MOTION INDUSTRIES, INC.

REPORT FOR HEAT TREATING INSPECTION
SPECIMEN# 8040
CUSTOMER P.O.NUMBER SPECIFICATION
PRODUCT BALL SCREW 980405-1 R25-5T4-FSI-300-395-C3
MATERIAL 50CrMo4 QT 980405-2 R25-5T4-FSI-500-600-C3
HEAT TREAT INDUCTION SURFACE HARDENING

ITEM INSPECTION DATA

HEAT TREATED ARE
HARDNESS 58-62 HRC AT SURFACE
(SEE SKETCH)
CASE DEPTH 2.0mm BELOW THREAD ROOT
MICRO- Martensite IN SURFACE AREA
STRUCTURE Sorbite IN CORE AREA
HARDNESS INSPECTED EVERY 0.5mm(SERIES 2)
TEMPERING AT 160 DEGREES CELCIUS
HARDNESS INSPECTED EVERY 0.5mm(SERIES 1)

DEPTH Series 1 Series 2 HV VS. HRC

0 717 733 HV HRC
1 738 730
MICROSTRUCTURE 800 64.0
2 735 728 X500 780 63.3
3 744 728 760 62.5
4 741 725 740 61.8
5 746 712 720 61.0
6 733 255 700 60.1
7 725 267 690 59.7
8 276 283 680 59.2
9 276 670 58.8
10 262 660 58.3
11 650 57.8
12 640 57.3
13 630 56.8
14 620 56.3
15 610 55.7
600 55.2
590 54.7
Series 1 Series 2 580 54.1
570 53.6
800
560 53.0
700 540 51.7
520 50.5
600 500 49.1
480 47.7
500
460 46.1
400 440 44.5
420 42.7
300 400 40.8
380 38.8
200 360 36.6
340 34.4
100
320 32.2
0 300 29.8
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 280 27.1
260 24.0
DEPTH(EACH SCALE=0.5mm)
240 20.3

REMARKS PASS OR NOT Q.C.CHIEF INSPECTOR

23
 7.6 Lubrication
Lithium base lubricants are used for Ballscrew lubrication.
Their viscosity are 30~40 cst (40 ) and ISO grades of 32~100.

Selecting:
1. Low temperature application: Using the lower viscosity lubricant.
2. High temperature, high load and low speed application: Using the higher viscosity lubricant.

Table7.3 Checking and supply interval of lubricant

Manner checking interval checking item Supply or replacing interval

Automatic interval oil To supply on each check, its volume depends on oil tank
supply every week Oil volume and purity capacity.

Within 2-3 months

Lubricating grease after starting Foreign matter Normally supply once a year as per the result of check
operation of machine

everyday before Oil surface To supply as per wasting condition

Oil bath operation of machine

7.7 Dustproof

Same as the rolling bearings, if there is the particles such as chips or water get into the ballscrew, the
wearing problem shall be deteriorated. In some serious cases, ballscrew shall then be damaged. In order to
prevent these problems from happening, there are wipers assembled at both ends of ball nut to scrape chips
and dust. There is also the "O-Ring" at the wipers to seal the lubrication oil from leaking from ball nut.

24
DRIVING TORQUE

8.1 Operating Torque of Ballscrew

(1) Normal Drive
Rotational motion converted to linear motion is Here
called normal drive. The torque required can be Ta :Normal operation torque
obtained by using equation (8.1) Fa :Axial load
Fa×l l :Lead
Ta = ................................................(8.1) :Normal efficiency

(2) Reverse operation:

Linear motion converted rotational motion is Here
called reverse operation motion. The torque :Reverse operation torque
required can be obtained using equation (8.2): :Reverse efficiency

Tb = .............................................(8.2)

(3) Preload torque:

Friction torque due to preload on the Ballscrew, Here
The torque required can be obtained by using Tp :Preload torque
equation (8.3): Fao:Preload
k :Coefficient of preload torque
Tp = k × Fa×l .............................................(8.3) see equation (3.1)

8.2 Drive Torque of Motor

(1) Driving torque at constant speed:
The torque can counteract load and let Ballscrew to rotate uniformly is called driving torque for constant
speed. Driving torque = preloading torque + friction torque for axial load + friction torque for bearing.

Fao×l Fa×l N1 .............................................

T1 = k × + + TB × (8.4)
N2
Here
T1 :Driving torque at constant speed :Guiding surface friction coefficient
Fao :Preload W :Total weight ( Working table weight + Working object weight )
Fa :Axial load TB :Friction torque for bearing
F :Cutting resistance N1 :Gear one
N2 :Gear two

In general, driving torque of constant speed motion shall not over than 30% of rated torque of motor.

25
 Cutting direction
Cutting resistance
W

Gear two Sliding resistance

Motor

Gear one

Fig.8.1 Cutting machine diagram

(2) Driving torque at constant acceleration:

The torque required to counteract load and to let Ballscrew to rotate at constant acceleration is driving
torque at constant acceleration.
T2 = T1 + J . w ........................................................ (8.5)
2
N1
J = JM + JG1 + × [JG2+JSH+Jw+JC ] ..................... (8.6)
N2
2
W l
Jw = ........................................................ (8.7)
g

Here
T2 :Driving torque at constant acceleration JSH :Inertial of screw shaft
w :Motor's angular acceleration Jw :Inertial of moving parts (Ballscrew, Table)
J :Total inertial JC :Inertial of Coupling
JM :Inertial of motor W :Total weight
JG1 :Inertial of gear one l :Lead
JG2 :Inertial of gear two g :Gravitational acceleration

Cylindric inertia (Ballscrew, gear)

J =
32 g
4
× D ×L (kgf .cm . sec )...............................(8.8)
2

GD 2 = 4 g × J =
8
D4 × L (kgf . cm ) ..........................(8.9)
2

Here
:Specific gravity. (specific gravity of steel = 7.8x10 -3 kgf / cm3)
:Diameter of cylinder
:Length of cylinder

26
SELECTING CORRECT TYPE of BALLSCREW

Operating conditions

Lead Accuracy P.5 1 Determine Lead accuracy

Determine axial play

Precision ground Ballscrew Rolled Ballscrew

( High precision) ( Low precision)

Design of Screw Shaft P.9 Selecting shaft length

2 Selecting Lead

3 Selecting shaft diameter

Determine shaft
4
support method

Examine permissible No
3 ( 4 )
axial load

Examine permissible No
3 ( 2 , 4 )
rotation speed

Design of Ball Nut P.13 5 Selecting the Nut type

Calculate rigidity
in shaft axial direction

Calculate Nut rigidity

Calculate
support-bearing rigidity

No
Rigidity P.15 Examine the rigidity 5 ( 2 , 3 )

Examine the No
1 ( 3 , 4 , 5 )
positioning accuracy

No
Life P.20 Calculate the service life 5 ( 2 , 3 )

No
Driving Torque P.25 Examine the driving torque 2 ( 3 , 5 )

Selecting motor

Examine the lubrication

and contamination protection

27
NOMENCLATURE OF PMI BALLSCREW

10.1 Nomenclature of External Circulation Ballscrew

4R50-10B2-2FSWC-1000-1500-0.018R

Rolled (Not marked for precision ground Ballscrews)

Accuracy grade
Overall length
Thread length
Refer to P.30 for this special code
W : External ball circulation (immersion type) P.48
V : External ball circulation (extrusive type) P.59
C : ACME thread
K : End cap type ball recirculation
S : Single nut
D : Double nut
O : Lead offset preloaded Ballnut
F : Ballnut with face to face flanges
F : Flange type
R : None flange type
S : Square Ballnut
D : Double flange Ballnut
Number of pairs of Nut on one screw shaft (Not
marked for single pair of Nut, no matter if it's single nut or double nut)
Quantity of circulation tubes
A: 1.5 circuits
Effective ball circuits B: 2.5 circuits
C: 3.5 circuits
Lead
Screw nominal O.D.
Thread direction
Number of Thread (Not marked for regular single thread)

Type:FDWC Type:DFWC

Type:FSWC Type:FOWC

Type:RSWC Type:SSWC
28
10.2 Nomenclature of Internal Circulation Ballscrew
4R32-10T4-2FSIC-1050-1500-0.018R

Rolled (Not marked for precision ground Ballscrews)

Accuracy grade
Overall length
Thread length
Refer to P.30 for this special code
Internal ball circulation P.70

S: Single nut
D: Double nut
O: Lead offset preloaded Ballnut
F: Ballnut with face to face flanges
F: Flange type
R: None flange type
S: Square Ballnut
D: Double flange Ballnut

Number of pairs of Nut on one screw shaft (Not

marked for single pair of Nut, no matter if it's single or double nut)
Quantity of circulation deflectors (or inserts)
T: Number of circuit = 1 circuit
Lead
Screw nominal O.D.
Thread direction
Number of Thread (Not marked for regular single thread)

Type:RDIC

Type:FDIC

Type:FSIC

Type:DFIC
29
Table10.1 Special code

C Precision ground threads

E E type ball circulation tube ( PMI's patent)
W Rolled threads
Q Self lubrication
B Retainer ( Located in between balls)
T Ballnut rotation ( Instead of regular screw shaft rotation type Ballscrew )
D E type tube + Self lubrication
F E type tube + Retainer
J E type tube + Self lubrication + Retainer

30
SAMPLE PROCESS of SELECTING the TYPE of BALLSCREW

11.1 Cutting Machine

Cutting direction

Cutting resistance

W1
+
Sliding resistance
W2

Fig.11.1 Cutting machine

1. DESIGN CONDITIONS:
Table weight: 1100 kgf Driving motor: N max = 2000 rpm
Work piece weight: 800 kgf Positioning accuracy: ̈́0.030/1000ʳmm (no load)
Max. travel: 1000 mm Repeatability accuracy: ̈́0.005ʳmm (no load)
Rapid feed speed: 14 m/min Lost motion: 0.02 mm (no load)
Life: 25000 h
Sliding surface friction coefficient: 0.1

2. MECHANICAL CONDITIONS:
Calculation
data Axial load (kgf ) Feed speed Time
Kinds of
ʳ
operation ʳʳ Cutting resistance Sliding resistance mm/min ratio(%)

ʳ Rapid feed 0 190 14000 30

Light cutting 500 190 600 55
Heavy cutting 950 190 120 15
ϨʳSliding resistance: Fa = (W1+W2)
=0.1x(1100+800)
=190 (kgf )

3. Items to be decided:
1. Screw nominal O.D., Lead, Type of Nut
2. Accuracy grade
3. Thermal displacement
4. Driving motor

31
1. Selecting Screw nominal O.D., Lead, Nut
(1) Lead ( l ) (3) Selecting the type of nut
The highest rotation speed of motor In case stiffness is a major concern, lost motion becomes less

V max 14000 important, following specifications are to be selected:

lЊ = = 7 (mm)
N max 2000 ϥ External circulation Ballscrew
ϨLead have to be 7 mm or more. ϥ Type: FDWC
ϥ Number of circuit: Bx2 or Bx3
( As per PMI catalog: select 8 and 10 mm for further analysis)
The value of Ca can be found as per this catalog: (kgf )
(2) Basic dynamic rate load (Ca) Screw nominal Lead 8 (mm) Lead 10 (mm)
Calculation O.D. (mm) Bx2 Bx3 Bx2 Bx3
data Axial load Feed speed Time
Kinds of
operation l=8 l = 10 ratio (%) 32 3210 4660
Rapid feed F1 = 190 N1 = 1750 N 1 = 1400 t 1 = 30 36 3265 4930
Light cutting F2 = 690 N2 = 75 N 2 = 60 t 2 = 55 40 3410 5220
Heavy cutting F3 = 1140 N3 = 15 N 3 = 12 t 3 = 15 45 3650 5175 5480 7760

Calculation of mean load and mean rotation 50 3900 5520 5790 8200
_1
F13.n1 .t1 + F23.n2 .t2 + .....+ Fn3.nn .tn
3
Mean load Fm = (4) Selecting screw shaft diameter
n1 .t1 + n2 .t2 + .....+ nn .tn Ballscrew shaft diameter can be decided by critical rotation
n1 .t1 + n2 .t2 + .....+ nn .tn speed of high speed feed.
Mean rotation
Nm = Assume both of the supporting ends are fixed.
t1 + t2 + .....+ tn So the permissible rotational speed :

l (mm) 8 10 EIg dr
Lead
n= =f 107
L2
Mean load Fm (kgf ) 330 330 2

Nm (rpm) 569 455 dr Њ n×L 10-7

Mean rotation f
L = Max. stroke + Nut length/2 + unthread area length
Calculation of basic dynamic rate load = 1000 + 100 + 200 = 1300 (mm)
3 Screw shaft supported method is fixed-fixedʳ
Ca
L = 10 6 ʳf = 21.9
Fa fw
L When l =8 (mm) .................... dr Њ13.5 (mm)
Lt =
60N m If the highest rotational speed reaches 1750 rpmʿ
screw shaft diameter at thread root area must be bigger
than 14 mm.
Ϩ So screw shaft diameter shall be ranged in between 20 and 50 mm.
As per design Conditions:
L t = 25000 (hours) When l =10 (mm) .................... dr Њ10.8 (mm)
If the highest rotational speed reaches 1400 rpmʿ
f w = 1.2
screw shaft diameter at thread root area must be bigger
than 11 mm.
When l =8 (mm) ............ CaЊ3756 (kgf )
Ϩ So screw shaft diameter shall be ranged in between 16 and 50 mm.
If life > 25000 (hours) is needed,
Ca must be > 3756 (kgf ) (5) Considering rigidity
By initial conditions:
When l =10 (mm) ............. CaЊ3487 (kgf ) Lost motionΚ0.02 mm (no load)
Assume total displacement of components (including screw
If life > 25000 (hours) is needed,
shaft, ballnut and support bearing) of feed system is
Ca must be > 3487 (kgf )
0.016mm. Thus the unilateral elastic displacement of feed
system is

32
a. Axial rigidity of the screw shaft: KS ϨWith the condition of
Elastic displacement of the screw shaft: Make following selection by ignoring the bearing rigidity,
economical and safety consideration:
KS = A E L 10-3
x (L x ) Type of BallscrewΚ 40-FDWC-10B2
The smallest elastic displacement is in the middle of screw shaft. Screw shaft diameterΚ40 ( mm)
From following diagram ʳUsing xЈLS ˂2, LeadΚ 10 ( mm)
Fa/2 Fa Fa/2
(6) Length of Ballscrew:
L = Max. travel + Nut length + Unthreaded area length
(including journal ends length)
= 1000 + 180 + 100
= 1280
Ls/2 Ls/2 Ѝ1300 ( mm)
Ls=1300 (mm)
(7) Preliminary check:
2
KS = dr E a. Fatigue life
10-3
LS 3
Ca 6 1
Lt = 10
LS = Fa = Fa 2LS 103 Fm fw 60n
KS dr E 3
4700 6 1
HereʳFa is sliding resistance of 190 (kgf ) = 10
330 1.2 60 455
The results are in the table 11.2.
Ѝ61000 (hours) >25000 (hours)
b. Axial rigidity of the nut: Kn b. Permissible rotational speed
Elastic displacement of the nut:
Setting the preload to be 1/3 of maximum axial load. n = f dr2 107
L
Fao = Fmax 3 = 1140 3 =380 (kgf ) = 4540 (rpm)
1/ 3
Critical speed of screw shaft is 4540 (rpm). It is much
Fao
Kn = 0.8 K bigger than the maximum rotational speed of design.
Ca
So the Ballscrew selected is safe.
= 0.1, then
Ln = Fa
Kn
The results are in the table 11.2.

Table11.2

ʳʳ Screw Nut Total

Nut model no. dr Ca K
Ks Ls Kn Ln L
32-FDWC-10B2 27.05 4660 125 37.1 5.1 93.0 2.0 7.1
36-FDWC-10B2 31.05 4930 138 48.9 3.9 101.2 1.9 5.8
40-FDWC-10B2 35.05 5220 151 62.3 3.0 108.7 1.7 4.7
45-FDWC-10B2 38.05 5480 167 73.5 2.6 118.3 1.6 4.2
50-FDWC-10B2 42.05 5790 182 89.7 2.1 126.5 1.5 3.6

33
2. Selecting lead accuracy (2) Driving torque:
Positioning accuracy required: ̈́0.030/1000 mm (Max. travel) In this case, the time sharing of machine working at
Refer to table 3.2, accumulated reference lead deviation (̈́ E) acceleration condition is limited. Assuming the machine
and total relative variation (e) works at constant speed, the torque caused by angular
Accuracy grades: C4 acceleration is then neglected.
E = ̈́ 0.025/1250 ( mm)
e = 0.018 ( mm) a. Preloading torque
Fao×l k = 0.3
TP = k×
3. Considering thermal displacement Fao= Fmax/3
According to the load capability of support bearings, make the 380×1.0
= 0.3× 2Ӹ
specified travel (T) compensation to be
=18.1 (kgf .cm)
a. Thermal displacement:
b. Friction torque
= 12.0×10-6×3×1300 Rapid feed:
= 0.047 (mm) Fa×l
Ta =

b. Pretension force: = 190×1.0

2 ×0.9
4L = 33.6 (kgf .cm)
0.047×2.1×104× ×27.052
= Light cutting:
4×1300
= 436 ( kgf ) 690×1.0
Tb=
2 ×0.9
Specified Travel (T) : -0.047/1300
= 122.1 (kgf .cm)
Pretension force: 436 (kgf ).
Stretching: -0.047 (mm)
Heavy cutting:
1140×1.0
Tc=
2 ×0.9
4. Selecting driving motor
= 201.7 (kgf .cm)
<Required specifications>
1. The highest rotation speeds is 1500 rpm.
The maximum required driving torque is preloading torque

2. Time required to reach highest rotational speed is within 0.15 sec.

plus friction torque of heavy cutting.

(1) Inertial TL=Tp+Tc

a. Screw shaft: = 219.8 (kgf .cm)
GDS2 = ×D4×L
8 -3
×7.8×10
= ×44×130
8
= 101.9 ( kgf . cm2 )

b. Moving parts:
2
l
GDw2 = W
2
1.0
= ( 1100+800 )×
= 192.5 ( kgf .cm2 )
c. Coupling:
GDJ = 40 (kgf .cm2)
2

d. Total of inertial:
GDL2=GDS2+GDw2+GDJ2
= 334.4 (kgf .cm2)

34
(3) Selecting driving motor 5. Calculating the stress of the Ballscrew
<Selecting conditions> F Fmax
a. The highest rotation speed: N max Њ1500 (rpm ) A dr2/4

= 1140×9.8×4
b. Rated torque: T M ЇT L
×35.052 ( dr is screw shaft thread root diameter)
c. Rotor inertia: J M ЊJ L Я3
dr=40+1.4-6.35=35.05 (mm)
The specifications required for driving motor are then decided as = 11.56 N/mm2
per above conditions. = 1.16×10 7 N/m2
Ϩ Motor specifications:
= T×r
Output W M =3.6 (KW ) J Tmax=TL=219.8(kgf.cm)=21540 (N.mm)
Highest rotation speeds N max =1500 (rpm )
= 21540×20 J= =
(35.054)
=148167 (mm4)
148167 32 32
Rated torque T M =22.6 (N . m )
2
Rotor inertia GD M =750 (kgf . cm 2 ) = 2.91 N/mm2
= 2.91×10 6 N/m2
(4) Check required time period for reaching highest = 2
+ 2
rotation speed = 11.9×106 N/m2
t a= J × ×f 50CrMo4 steel tension strength is 1.1×108 N/m2 ˑ
T'M -TL 60
Yield strength is 0.9×108 N/m2 ˑ
Here
Ϩ So the Ballscrew selected is safe.
J: Total inertia
T' M = 2×T M 6. Calculating the buckling load of the screw shaft
T L: Rotation Torque (rapid)
f: nEI dr4
Safe factor (choose 1.4 for this case)
L2 L2
( 274.3+750 )
ta = × 2 ×1400 × 1.4 35.054
4 × 980 × ( 2 × 230 - (18.1+33.6 ) ) 60 = 20.3× ×103
11002
= 0.13 (sec) < 0.15 (sec)
=25300 (kgf )Ї Fmax (1140 kgf )
Ϩ So the Ballscrew selected is safe.
Ϩ Thus above motor specifications match design needs.

11.2 High Speed Porterage Apparatus (Horizontal application)

Motion direction

W2

Sliding resistance

W1

Fig.11.3 High speed porterage apparatus

35
1. DESIGN CONDITIONS:
Table weight: W 1 = 50 kgf (2) Initial selection of screw shaft length:
Work piece weight: W 2 = 25 kgf L= Max. travel + Nut length + Unthreaded area length
(including journal ends length)
Max. travel: S max = 1000 mm =1000 + 100 + 100
=1200 (mm)
Rapid feed speed: V max = 14 m/min
Life: L t = 25000 hours
(3) Selecting screw shaft diameter
Guiding surface friction coefficient: = 0.01 Ballscrew shaft diameter can be decided by critical rotation
Driving motor: N max = 3000 rpm speed of high speed feed.
Positioning Accuracy: ̈́ 0.10/ at max. travel Assume the supporting ends are fixed-supported.
So the permissible rotational speed :
Repeatability Accuracy: ̈́ 0.01 mm
EIg dr
n= =f 107
L2
2. MOTION CONDITIONS: 2
dr Њ n×L 10-7
f
V (m/min) L = Max. travel + Nut length/2 + Unthread area length
= 1000 + 50 + 100 = 1150 (mm)
x=1000mm
Screw shaft support method is fixed-supported
50 ʳf = 15.1
2 dr Њ21.9 (mm)
If the high rotational speed is 2500 rpm,
t4=0.3 Diameter at thread root area must be bigger than 22 mm.
t5=0.9
1 3 t6=0.3 Ϩ So Screw-shaft diameter shall be ranged in between 25 and 36 mm.
0 t (sec)
(4) Considering service life
t1=0.3 First to analyze Fig.11.4 (V-t diagram)
t2=0.9 4 6
The speed line is a straight one, hence it is a constant
t3=0.3
acceleration, periodically reciprocating motion.

1.5(s)
5 Maximum velocity: V max = 50 (m/min) = 0.83 (m/s)
Acceleration time: t 1 = 0.3 (s)
1.75(s) 1.75(s) Deceleration time: t 3 = 0.3 (s)

t=3.5s / T a. Running distance during acceleration

Fig.11.4 Porterage apparatus v-t diagram x1 = V0 + V ×t = 0+0.83

×0.3= 0.125 (m) =125 (mm)
2 2
3. Items to be decided b. Running distance during constant speed
1. Screw nominal O.D., Lead x2 = V . t = 0.83×0.9=0.75 (m) = 750 (mm)
2. Accuracy grade c. Running distance during deceleration
3. Type of nut V0 + V 0.83+0
x3 = ×t = ×0.3= 0.125 (m) =125 (mm)
4. Driving motor 2 2
d. The line segment 1
1. Selecting Screw nominal O.D., Lead Vmax
a1 = = 0.833 = 2.8 (m/s 2)
(1) Lead ʻ l )Κ t1 0.3
The highest rotation speed of motor F1 = (W1 + W2 )×g + (W1 +W2 )×a1
V max 50000 = 0.01×(50+25)×9.8+(50+25)×2.8
lЊ = = 17 (mm) = 217 (N)
N max 3000
ϨLead have to be 18 mm or more. N1 = nmax 2 = 2500 2 = 1250 (rpm)
( As per PMI catalog : select 8 and 10 mm for further analysis)
If lead is 20 mm, the highest rapid feed speed 50 m/min shall be
reached as long as the motor rotates at 2500 rpm.
36
e. The line segment 2
3. Selecting Ballscrew type
F2 = f = (W1+W2)×g Considering operation conditions, effective turns of A1 is
= 0.01× (50 + 25)× 9.8 selected.
= 7.35 (N ) Selecting following type:
N2 = 2500 (rpm) R25-20A1-FSWE-1000-1160-0.018
f. The line segment 3 Screw-shaft support method is fixed-supported
F3 = (W1+W2)×g + (W1+W2)×a3
= 0.01×(50+25)×9.8+(50+25)×(-2.8) 4. Selecting driving motor
= -203 (N) < Required specifications>
N3 = nmax 2 = 2500/2 = 1250 (rpm) 1. The highest rotation speed of 3000 (rpm).
Whence the relationship between the applied axial load, running
distance, time and mean rotation can be as follows: 2. Time required to reach highest rotational speed is within 0.30 sec.

Running Mean (1) Inertial

Motion Axial load Time
distance rotation a. Screw shaft:
4
1. Acceleration forward 217 125 0.3 1250 JS H = ×D ×L
32g
-3
2. Constant speed forward 7.35 750 0.9 2500 = ×7.8×10
×2.54×120
32×980
3. Deceleration forward -203 125 0.3 1250
= 0.0037 (kgf . cm . sec 2 )
4. Acceleration returning -217 125 0.3 1250
b. Moving parts:
-7.35 750 0.9 2500 2
Jw = W l
5. Constant speed returning

6. Deceleration returning 203 125 0.3 1250 g 2

2
25+50 2
g. Calculation of mean load and mean rotation: = ×
_1 980 2
= 0.0078 (kgf . cm . sec 2 )
3
F13.n1 .t1 + F23.n2 .t2 + .....+ Fn3.nn .tn
Fm =
n1 .t1 + n2 .t2 + .....+ nn .tn _1
c. Coupling:
3 3 3
3 J C = 0.0005 (kgf . cm . sec 2 )
217 ×1250×0.6+7.35 ×2500×1.8+203 ×1250×0.6
= d. Total of Inertial:
1250×0.6+2500×1.8+1250×0.6
JL = Jsh + Jw + JC
= 132.4 ( N ) = 0.012 (kgf . cm . sec 2)
n1 .t1 + n2 .t2 + .....+ nn .tn (2) Driving torque
Nm =
t1 + t2 + .....+ tn a. During constant speed:
F ×l
=
1250×0.6+2500×1.8+1250×0.6 T1 = 2 = 7.35×2
3.5 2 × 2×0.9
= 1714 (rpm) = 2.6ʳЍ3.00 (N . cm)
h. Calculation of life b. During acceleration
3
Ca 1 T2 = T1 + J w
Lt = × ×10 6 JM = 0.01 (kgf . cm . sec 2
Fm × fw 60N m 2 n )
= T1 + (JL + JM )×
60t1
1050×9.8 1 2 ×2500
= × ×106 = 3+(0.009+0.01)×9.8×
132.4×2.5 60×1714 60×0.3
= 166 (N . cm)
= 292000 (hours) Њ25000 (hours) c. During deceleration:
ϨAbove conforms design requirements.
T3 = T1 - J w
2 n
2. Selecting accuracy grade = T1 - (JL + JM )×
60t3
Positioning accuracy of ̈́0.01/1000 mm(Max. travel)
2 ×2500
= 3-(0.009+0.01)×9.8×
60×0.3
From table 3.2 = -160 (N . cm)
Accuracy grade: C5
E = ̈́0.040/1000
e = 0.027

37
(3) Selecting driving motor 5. Calculating the stress of the Ballscrew
<Selecting conditions> Fmax
= F=
1. The highest rotation speed: N max Њ3000 (rpm) A dr 2/4
2. Rated torque -------T M ЇT L = 217×4 2 dr =25+0.3-3.175=22.425(mm)
×22.425 (dr is screw shaft thread minor diameter)
3. Rotor inertia -------J M ЊJ L Я3 2
= 0.55 N/mm
The specifications required for driving motor are then decided as
per above conditions. = 5.5×105 N/m2
Ϩ Motor specifications
T
Output W M =400 (W ) = ×
J Tmax=TL=166 (N.cm)=1660 (N.mm)
Highest rotation speeds N max =3000 (rpm ) (22.4254)
1660 ×12.5 J= = =24827 (mm4)
Rated torque T M =1.27 (N . m ) = 32 32
24827
J M =0.01 (kgf . cm . sec )
2
Rotor inertia = 0.84 N/mm2
= 8.4×105 N/m2
(4) Effective torque: =
2 2 2 = 0.11×108 N/m2
T2 ×ta+T1 ×tb+T3 ×t
Trms = 50CrMo4 steel tension strength is 1.1×108 N/m2 ˑ
t
Yield strength is 0.9×108 N/m2 ˑ
2 2 2
166 ×06+3 ×1.8+160 ×0.6 Ϩ So the Ballscrew selected is safe.
=
3.5
= 95 (N . cm ) < 127 (N . cm ) 6. Calculating the buckling load of the screw shaft
ϨʳIt conforms to design requirements.
nEI dr4
2
(5) T ime required to reach highest rotational speed. L L2
4
22.425
= 10.2× ×103
ta = ' J × 2 n × f 11602
TM -TL 60
= 1917 (kgf ) Ї Fmax (22.14 kgf )
Here:
Ϩ So the Ballscrew selected is safe.
J : Total inertia
T M ' = 2×T M
TL : Rotation Torque (rapid)
f : Safe factor (choose 1.4 for this case)

ta = 0.009+0.01 × 9.8 × 2 ×2500 ×1.4

2×127×3 60
= 0.27 (s )< 0.3 (s )
ϨIt conforms to design requirements.

38
 11.3 Vertical Porterage Apparatus
1. DESIGN CONDITIONS:

Motion direction
Table weight: W 1 = 300 kgf
Work piece weight: W 2 = 50 kgf
Max. travel: S max = 1500 mm
Rapid feed speed: V max = 15 m/min

Sliding resistance
Life: L t = 20000 hours
w
Guiding surface friction coefficient: = 0.01

FaΚ Axial load

Driving motor: N max = 1500 rpm
Positioning accuracy: ̈́0.8/1500 mm
Repeatability accuracy: ̈́0.3 mm

Fig.11.5 Vertical porterage apparatus

1. Selecting accuracy grades

2. MOTION CONDITIONS: As per design condition: positioning accuracy required: 0.8/1500 mm.
V(m/min) ± 0.8 = ± 0.16
s1=300mm s2=1500mm 1500 300
15 t1=0.2 Refer to table 3.2, accumulated reference lead deviation (̈́ E)
t2=1.0
4 6 and total relative variation (e)
t3=0.2 5
Accuracy grades C10
1 3 E=̈́0.12/300 mm.
t(sec)
Ϩ So the porterage apparatus can use Rolled Ballscrew.
t4=0.2
t5=5.8
2 t6=0.2
2. Selecting screw nominal O.D., Lead
t1 t2 t3 t4 t5 t6 (1) Lead ( l )
5(sec) The highest rotation speed of motor
5(sec)X5 times 15(sec) V max 15000
t=40s/ T lЊ = = 10 (mm)
N max 1500
Fig.11.6 Porterage apparatus' v-t diagram ϨLead have to be 10 mm or more.
( As per PMI catalog : select 10 mm for further analysis)

3. Items to be decided: (2) Permissible axial load

1. Accuracy grade Setting up is positive.
2. Screw nominal O.D., Lead a. Force during acceleration (downward) 1
3. Driving motor Vmax 15000
a1 = =
60×0.2 =1250 (mm/s ) =1.25 (m/s )
2 2
t1
f = (W 1 +W 2 )×g= 0.01(300+500)×9.8 (Friction)
= 35 (N )

F=maШF 1=(W 1 +W 2 )×g-f-(W 1 +W 2 )×a 1

= 2958 (N )

39
 b. Force during constant speed (downward) 2 (6)Calculating of basic dynamic rate load:
a=0ШF 2=(W 1 +W 2 )×g-f Axial load Mean rotation Time
Motion
= 3395 (N) (N) (rpm) (sec)
c. Force during deceleration (downward) 3 Acceleration (down) F 1 =2958 N 1 =750 t 1 =1.0
F=maШF 3=(W 1 +W 2 )×g-f+(W 1 +W 2 )×a 3 Constant speed (down) F 2 =3395 N 2 =1500 t 2 =5.0
= 3833 (N)
Deceleration (down) F 3 =3833 N 3 =750 t 3 =1.0
d. Force during acceleration (upward) 4
Acceleration (up) F 4 =3903 N 4 =750 t 4 =0.2
F=maШF 4=(W 1 +W 2 )×g-f+(W 1 +W 2 )×a 4
= 3903 (N) Constant speed (up) F 5 =3465 N 5 =1500 t 5 =5.8
e. Force during constant speed (upward) 5 Deceleration (up) F 6 =3028 N 6 =750 t 6 =0.2
a=0ШF 5=(W 1 +W 2 )×g+f _1
3
= 3465 (N) F13.n1 .t1 + F23.n2 .t2 + .....+ Fn3.nn .tn
Mean load Fm =
f. Force during deceleration (upward) 6 n1 .t1 + n2 .t2 + .....+ nn .tn
F=maШF 6=(W 1 +W 2 )×g+f-(W 1 +W 2 )×a 6 = 3436 (N)
= 3028 (N) n1 .t1 + n2 .t2 + .....+ nn .tn
Mean rotation Nm =
So Fa max =F 4 = 3903 (N) t1 + t2 + .....+ tn
(3) Buckling load: = 900 (rpm)
nEI dr4 As per design condition:
L2 L2
1/4
Life required is 20000 hours, Let fw=1.2
3
P×L2 Ca 1
dr = m ×10-3 Lt = × ×106
Fm × fw 60Nm
1/4
3903×18002 Ca=(60Nm×Lt)1/3×Fm×fw×10-2
= ×10-3
9.8×10.2 = 42303 (N)
= 19 (mm) = 4320 (kgf )
Screw shaft diameter at thread root area must be bigger than 19 mm. ϨIf the life required is > 20000 (hours),
ϨSo screw shaft diameter shall be ranged in between 25 and 50 mm. Ca has to be > 4320 (kgf )

(4) The length of screw shaft (7) Calculating basic static rate load:
L= Max. travel + Nut length + Unthreaded area length
(including journal ends length) Co=F max ×f s Let fS = 2.0
=1500 + 100 + 200
=1800 (mm) = 7806 (N)
Slenderness ratio: 60 or less = 800 (kgf )
L 1800 Co has to be > 800 (kgf )
DЊ = = 30 (mm)
60 60
ϨSo screw shaft diameter shall be ranged in between 32 and 50 mm. Selection is made as follows:
ϨType of the Ballscrew: 40-FSWW-10B2
(5) Permissible rotational speed:
Assume the supporting ends are fixed-supported Screw shaft diameter: 40 (mm)
So the permissible rotational speed: Lead: 10 (mm)
EIg dr Basic dynamic rate load: 5200 (kgf )
n= =f 107
L2
2
dr Њ n×L 10-7 ( f=15.1, L=1800 )
f
Њ 30
If the highest rotational speed reaches 1500 rpm, screw shaft
thread diameter at thread root area must be bigger than 30 mm.
ϨSo screw shaft diameter shall be ranged in between 36 and 50 mm.

40
3. Selecting driving motor 3. Torque required for acceleration:
<Required specifications> T7 = J.w
1. The highest rotation speeds is 1500 rpm. = (JL + JM )× GDM = 120 (kgf .cm2)
2. Time required to reach highest rotational speed is within 0.15 sec. 60t1
(178 + 120 ) 2 × 1500
= ×
(1) Inertial 4 × 980 60 × 0.2
a. Screw shaft: = 59.7 (kgf .cm) = 585 (N.cm)
4
GDS2 = ×D ×L
8
×7.8×10
-3
4. Total torque:
= ×44×180
8 a. Acceleration (downward):
= 141.1 ( kgf . cm2 )
Tk1 = T1+T7 = 520+585 = 1105 (N.cm)
b. Moving parts: b. Constant speed (downward):
2

GDw2 = W
l Tt1 = T2 = 600 (N.cm)
2 c. Deceleration (downward):
1.0
= ( 300+50 )× Tg1 = T3+T7 = 680+585 = 1265 (N.cm)
= 35.5 ( kgf .cm2 ) d. Acceleration (upward):
Tk2 = T4+T7 = 690+585 = 1275 (N.cm)
c. Coupling:
e. Constant speed (upward):
GDJ =1.0 (kgf . cm 2 )
2

Tt2 = T5 = 610 (N.cm)

d. Total of Inertial: f. Deceleration (upward):
(N.cm)
2 2 2 2
GDL =GDS +GDw +GDJ Tg2 = T6+T7 = 540+585 = 1125
= 178 (kgf .cm2) ϨTmax = Tk2 = 1275 (N.cm)

(2) Driving torque: (3) Selecting driving motor

1. Friction torque <Selecting conditions>
a. Acceleration (downward): 1 a. The highest rotation speeds: NmaxЊ1500 ( rpm)
2950×1.0
T1 = Fa×l = = 520 (N . cm) b. Rated torque -------TMЇTL
c. Rotor inertia-------JMЊJLЯ3
b. Constant speed (downward): 2 The specifications required for driving motor are then

T2 = Fa×l = 3395×1.0 = 600 (N . cm)

decided as per above conditions

ϨMotor specifications
c. Deceleration (downward): 3 Output WM=2000 (W )
Fa×l 3833×1.0
T3 = = = 680 (N . cm) Highest rotation speeds Nmax=1500 ( rpm)
Rated torque TM=13 (N . m)
d. Acceleration (upward): 4 Rotor inertia
2
GD M=120 ( kgf .cm2)
T4 = 690 (N.cm)
e. Constant speed (upward): 5 (4) Effective torque:
T5 = 610 (N.cm)
Tk21 × t 1 + T t 21 × t 2 + T g21 × t 3 + T k22 × t 4 + T t 22 × t 5 + T g22 × t 6
f. Deceleration (upward): 6 Trms =
t
T6 = 540 (N.cm)
2 2 2
2 2 2
= 1105 ×1.0 + 600 × 5 + 1265 ×1 + 1275 × 0.2 + 610 × 5.8 + 1125 × 0.2
2. Preloading torque 20
TP = k × Fao×l = 606 (N.cm) < 1300 (N.cm)
.
. . Fao = 0
... T = 0 ϨIt conforms to design requirements.
P

41
4. Calculating the stress of the Ballscrew
F Fmax
A dr2/4
(dr is screw shaft thread root diameter)
= 3903×9.8×4 dr=40+1.4-6.35=35.05 (mm)
×35.052
= 4.04 N/mm2
6
= 4.04×10 N/m2

= T×r Tmax=TL=1275 (N.cm)=12750 (N.mm)

J
(35.054)
12750×20 J= = =148167 (mm4)
= 32 32
148167
= 1.72 N/mm2
= 1.72×10 N/m2
6

2
= + 2
= 4.39×10 6 N/m2
50CrMo4 steel tension strength is 1.1×10 8 N/m 2 >
Yield strength is 0.9×10 8 N/m 2 >
Ϩ So the Ballscrew selected is safe.

5. Calculating the buckling load of the screw shaft

nEI dr4
L2 L2
35.054 3
= 10.2× ×10
18002
= 4751 (kgf )ЇFmax (398 kgf )
Ϩ So the Ballscrew selected is safe.

42
 BALLSCREW with HOLLOW COOLING SYSTEM
PMI's design of hollow cooling system is especially good for high speed Ballscrews. It shall well dissipate
heat generated by friction between balls and grooves during Ballscrew running, and then to minimize thermal
deformation as to ensure positioning accuracy.

12.1 Introduction to Hollow Cooling System

The hollow cooling system is designed by PMI. (Fig.12.1) It uses a coolant pipe through the hollow
hole of Ballscrew. The hollow hole is through all of the Ballscrew, and one end is clogged with the oil seal
by PMI patent. The coolant is pumped into coolant pipe and flow to the end of coolant pipe. Coolant then
flow reversely along the hollow hole back into the coolant collector. It can cool down the Ballscrew. The
coolant is then sucked back to the cooling unit to drop coolant temperature and pumped again to the
coolant pipe to complete circulation.

coolant out

coolant reverse coolant pipe coolant in

Fig.12.1 Hollow cooling diagram

12.2 Patent

12.2.1 Hollow cooling system 12.2.2 Cooling entrance

1. Taiwan patent No.182845. 1. Taiwan patent No.163206.

2. Features:
(i) Well and effectively control Ballscrew thermal
expansion.
(ii) Simple design and structure to save cost.

Fig.12.2 Hollow cooling system Fig.12.3 Cooling entrance

43
12.2.3 End sealing 12.2.5 Thermal control system test unit
Taiwan patent No.107485.
1. Patent pending
2. Features:
Easy for installing, disassembling and maintenance.

12.2.4 Coolant pipe support installation

1. Patent pending
2. Supported the coolant pipe. Let it don't touch
Ballscrew.

Fig.12.5 Thermal control system test unit

Fig 12.4 End sealing structure

12.3 Thermal control experiment

12.3.1 Test condition 12.3.2 The results of experiment

Screw nominal O.D. : 40 mm
As per the results by experiment, PMI's design of
Lead: 10 mm
1000 rpm hollow cooling system proves an effective way for
Rotation speed:
Speed: 10 m/min controlling the thermal expansion on the Ballscrew.
Load: 400 Kgf Hence it is a very helpful design to high precision
Slideways: Hardened ways machine tools.

35

30

No cooling
25

Hollow cooling
20

15

10

0
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 105 110 115 120 (min)

Fig.12.6The rule of experiment

44