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# 10:29

Page 1806

Technical Calculations

## Selection of Ball Screws 2

P LL
T P =K
(NCcm) EEEEEEEEEEEEEEEEE5
2Q
1
K = 0.05(tan) 2
Where;
P L:
(cm)
K : Coefficient of Internal Friction
L
: tan -1
QD

## I Selecting the Driving Motors

When selecting a driving motor, it is necessary to satisfy the following conditions:
1.Ensure a marginal force sufficient to counter the load torque exerted on the motor's output thread.
2.Enable starting and stopping at prescribed pulse speeds, sufficiently powered to counter the moment of
inertia exerted on the motor's output thread.
3.Obtain the prescribed acceleration and deceleration constants, sufficient to counter the moment of inertia exerted
Table

Ball Screw

GearJ

Where;

+TP

Pinion J

Z1
2Q N
+JM 60t
M10 3
Z2
(NCcm)EEEE

I Example

Z1

(3 P L-P)
3PL

## Total Weight of Table

and Work-Piece M

2QN
3
M10(NCcm)EEEEEEEEEE7
60t
2
L
Z1 2
2
(J 2 +J 3 )
+M
EE8
2Q (kgC cm )
Z2

Specifications

M=
O=
F =
i =

)}

J M =J1 +J4+
Where;
T 2 : Drive Torque in Acceleration
(daNCcm)
t : Acceleration Time(s)
J M: Moment of Inertia Exerted on the Motor(kgCcm2)
(kgCcm2)
J 1 : Moment of Inertia Exerted on Pinion
J 2 : Moment of Inertia Exerted on Gear(kgCcm2)
J 3 : Moment of Inertia Exerted on Ball Screw(kgCcm2)
J 4 : Moment of Inertia Exerted on Motor's Rotor(kgCcm2)
M : Weights of Table and Work Piece(kg)
(cm)
Moment of inertia exerted on cylinders such as ball screws and gears
(Calculations for J1~J4)
Q 4
J=
DR
(kgCcm2)EEEEEEEEEEEEEEEE 9
32
Where;
D : Cylinder Outside Diameter
(cm)
R: Cylinder Length
(cm)
: Material Specific Gravity
=7.8 M10 -3(kg/cm 3 )

T 1=

-3

1.5
102
8
6
5
4

3
2

1.5
2

10

2
1.5

2QM0.9

1.5

105
8
6
5
4
3

10
8
6
5
4
3

F10

F15
F20
F25
F32
F40
F50
F63

2
1.5

2
3
1.5 1650 108
min 1
6
103
5
8
4
6
3
5
2
4
1.5
3
2

10
8
6
5
4
3

= 2. 1(daNCcm)

g:Gravitational Acceleration
(9.8M102cm/s2)

-3
4

M2 M60

2
1.5

F80
F100

102
8
6
5
4
3

1.5
2

10
8
6
5
4

2
1.5

10

## Fixed-Fixed Fixed-Support 10 2 1.5 2 3 4 5 6 7 8 910 3 1.5 2

3
Method of Support
Distance between Supports (mm)

1.5

2
1.5

10 5
8
6
5
4
3

10 5
8
6
5
2
4
3 1.5

105
8
6
5
4
3

F63
F50

2
1.5
104
8
6
5
4
3

F32
F25

2

J M =J 4 + 5.791
(kgCcm )

## 5.Required Driving Torque TM

(J 4 + 5.791)
M
T M =2.1+

2Q M1500
60 M0.5

M 10

-3

T M=3.92 + 0.314 J (
4 NCcm)
From the above,
Max. Revolutions

No1500(min-1)

Rated Torque
To=faMTM8.0(daNCcm)
(fa:Safety Factor of 2)

## the effective torque and other necessary specifications.

(Reference)
1daN=10N1.02kgf

F20
F15

F10

10 2 1.5 2

Method of Support

## Example 3:How to Obtain the Thread Diameter

This example assumes a distance of
2000mm between acting load points, the
Fixed- Support method of support and the
1. Find the intersection between a distance of
2000mm between acting load points and
the axial load of 2400daN(from the FixedSupport scale)
.
2. Read the shaft diameter of the diagonal line
nearest to the intersection on the outside.
The shaft diameter can be a min. 40mm.

F40

Tentatively select the motor that satisfies the above, and check

=5.066(kgCcm

## Example 2:How to Obtain the Thread Diameter

This example assumes a distance of
1500mm between supports, the FixedSupport method of support and the max.
Revolution Frequency of 2000 min-1(from the
Fixed-Support scale)
.
1. Find the intersection between a distance of
1500mm between supports and the max.
Revolution Frequency of 2000 min -1
(from the Fixed-Support scale)
.
line to the intersection on the outside.

F80

J3 + J5
1.2(kgCcm2)
Moment of Inertia Exerted on Motor Thread J4
3~5

( )
2
2Q

4 5 67

## Example 1:How to Obtain the Number of Allowable Revolutions

This example assumes that ball screws with
a thread outer diameter of 40mm are fixed and
supported by supports with a distance of
2000mm in between for calculating allowable
Revolutions.
1. Find the intersection between a distance of
2000mm between supports and a Thread
outer diameter of 40mm.
Frequency for the intersection on the
Fixed-Support scale. The max.
Revolution Frequency is 1650 min-1.

2 10 4
10 3
8
1.5
8
6
6 10 4
5
5
4
8
2
4
3
6
1.5
2400daN
5
3
2
4
103
2
8
3 1.5
1.5
6
3
2 10
5
2
10
8
4
8 1.5
6
3
3
5
6 10
4
8
5
2
4
3
6
1.5
5
3
4
2
102

J 5 =50

)L

## (5+0.02 M50 M980 M10 )

M2

8
6
5

Fixed-Free

2Q

Q M7.7 M10
J 3=
32 2
J 3=0.725(kgCcm )

103
8
6
5
4

10
8

-3

1.5

2
1.5

(F +OCMC g M10

50(kg)
0.02
5(daN)
1

## CBall Screw Size

20 - 20 - 600
CMechanical Efficiency of Ball Screw, etc. = 0.9
= 30(m/min)
t = 0.5(s)
CAcceleration Time
30000
=1500(min-1)
20

6
5
4
3

6
5
4

P=F+OMg

## CTotal Weight of Table and Work Piece

CFriction Coefficient on Sliding Surface
CExternal Force
CReduction Ratio

104
8
5

103
8

## KAcceleration Torque Exerted on the Motor's Output Thread

This is the amount of torque required to drive the output shaft against the applied load during acceleration.

( ){

FD

Motor

Z1
(NCcm)
EEEEE6
Z2

2
1.5

of Selection of Motors

Friction Coefficient on
Sliding Surface O
Reduction Ratio i

2
1.5

Once you have tentatively found the type of motor you need, check 1. effective torque, 2 .
acceleration constant, and 3. motor overload characteristics and heat tolerance during
repeated starting and stopping. It is necessary to ensure a sufficient margin for these
parameters.

## T 1 : Driving Torque at Constant Speed

(daNCcm)
(daN)
P=F+OMg
F : Thrust Reaction Produced in Cutting Force(daN)
M : Weights of Table and Work Piece(kg)
O: Coefficent of Friction on Sliding Surfaces
g : Gravitational Acceleration
(9.8M102cm/s2)
(cm)
L: Mechanical Efficiency of Ball Screw or Gear
Z 1 : Number of Pinion Teeth
Z 2 : Number of Gear Teeth

1807

P3PL

T 2 =J M = J M

PL
(3 P L -P)
2Q + T P
3P L

## Allowable Revolutions Curve

Where;
T M : Overall Torque Exerted on the Motor's Output Thread(daNCcm)
T 1 :Driving Torque at Constant Speed
(daNCcm)
(daNCcm)
T 2 :Driving Torque in Acceleration

Z2

## KConstant Speed Torque Exerted on the Motor's Output Thread

This is the amount of torque required to drive the output thread against the applied external load, at a constant speed.
T 1=

T M=T 1+ T 2 =

Work-Piece

PL
2Q

## KTotal Torque Exerted on the Motor's Output Thread

Overall torque can be obtained by adding results from formulas 6 and 7.

3/1/06