8.

DRIVING TORQUE
8.1 Torque of Ball Screw

Fig. 28 Driving system

(1) Normal operation

When rotation is converted into linear motion (Normal
operation), the torque can be obtained from the following formual:

Gear 2

Where Ta : Normal operation torque (N m)

Fa : Axial load (N)
r : Lead (mm)
: Normal efficiency (0.9 0.95)

Gear 1
Motor

(2) Reverse operation

When linear motion is converted into rotation (Reverse
operation), the torque can be obtained from the following formula:
R

Where

(2) Driving torque at acceleration

When the ball screw is driven with accelerated velocity
against the axial load, the maximum load is required.
Torque required at this time can be obtained from the
following formula:

Tb : Reverse operation torque(N m)

2 : Reverse efficiency (0.85
0.9)

(3) Preload torque

Basic torque of preloaded ball screw can be obtained
from the following formula:
R

Where Tp : Normal operation torque (N m)

Fa0 : Preload (N)
: Lead angle (deg)

Where T2 : Maximum driving torque at acceleration

(N m)
: Angular acceleration of motor (rad/sec2)
J : Moment of inertia to motor (kg m2)
JM : Moment of inertia of motor (kg m2)
JG1 : Moment of inertia of gear 1 (kg m2)
JG2 : Moment of inertia of gear 2 (kg m2)
Js : Moment of inertia of screw shaft (kg m2)
m : Mass of transfer material (kg)
(Note) Moment of inertia of cylindrical components

Where m : Mass of cylinder (kg)

D : Diameter of cylinder (mm)

8.2 Driving Torque of motor

(1) Driving torque at constant speed
Torque T1 required for driving the ball screw at constant
speed against the external load can be obtained from the
following formula:

Where Ta : Driving torque at constant speed=

Fa=F+ W (N) In case of horizontal position

F : Cutting force in screw shaft direction (N)
: Frictional coefficient of sliding surface
W : Weight of table and work (N)
(Weight of table+Weight of work)
TB : Frictional torque of support bearing (N m)
N1 : Number of teeth of gear 1
N2 : Number of teeth of gear 2