Вы находитесь на странице: 1из 116

Drive Units with

Ball Screw Drives


The Drive and Control Company

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Linear Motion and Assembly Technologies


Ball Rail Systems
Roller Rail Systems
Linear Bushings and Shafts
Ball Screw Drives
Linear Motion Systems
Basic Mechanical Elements
Manual Production Systems
Transfer Systems

www.boschrexroth-us.com

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

Drive Units

Drive Units with


Driven Nut
Product Overview, Drive Units

Drive Units with Driven Nut

FAR Drive Units with Side Drive


Product Overview
Length Calculations
Technical Data and Dimensions
Technical Data and Dimensions
with Side Drive and Motor
Inquiries and Orders

16
16
18
20

MHS Drive Units with Hollow-Shaft Motor


Product Overview
Length Calculations, Dimensions
and Technical Data
Inquiries and Orders

26
26

22
24

28
30

Drive Units with


Driven Screw
AOK Drive Units with Driven Screw
Product Overview
Dimensioning
Stroke and Length Calculations
Technical Data and Dimensions
Technical Data and Dimensions
with Motor Mount, Coupling and Motor
Technical Data and Dimensions
with Side Drive and Motor
Permissible Speeds
Permissible Drive Torque
Inquiries and Orders

AGK Drive Units with Driven Screw


Product Overview
Dimensioning
Stroke and Length Calculations
Technical Data and Dimensions
Technical Data and Dimensions
with Motor Mount, Coupling and Motor
Technical Data and Dimensions
with Side Drive and Motor
Permissible Speeds
Permissible Drive Torque
Inquiries and Orders

32
32
34
36
38
40
42
44
46
54

56
56
60
62
64
66
68
70
72
78

Technical Notes
Technical Notes on the Ball Screws used
Acceptance Conditions and Tolerance Grades
Preload and Rigidity
Seals
Assembly
Lubrication

Calculation and Examples


Service Life Calculation for Drive Units
Design Calculation Service Form
Rough Dimensioning of the FAR Drive
Rough Dimensioning of the MHS Drive
Rough Dimensioning of the AOK Drive
Rough Dimensioning of the AGK Drive
Calculation Example, FAR Drive Unit
Calculation Example, MHS Drive Unit
Calculation Example, AOK Drive Unit
Calculation Example, AGK Drive Unit

80
80
82
84
86
87
88

90
90
91
92
94
96
98
100
104
108
112

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Product Overview
Drive units with driven nut

FAR series

Page

16

Diameter d0

Lead P
10

20

32

40

32
40
50
63

FAR drive unit

MHS series

FAR drive unit


with side drive

26

Precision screw SN-F


Tolerance grades
P3, P5, (T7)
and

82

Precision-rolled screw SN-R


Tolerance grades
T5, T7, T9,
(P5)

82

Diameter d0

Diameter d0

Lead P
5

10

12

16

40

d0 x P
32 x 10, 20, 32
40 x 10, 20, 40
50 x 10, 20, 40
63 x 10, 20, 40
800 1200 1500 3000 4000 5000
1000

7500

Maximum length (mm)


standard, available at short notice

Acceptance conditions

20

40

82

upon request

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

Drive Units

Drive units with driven screw

AOK series

Page

38

40

Diameter d0

Lead P
32

10

12

16

20

32

40

32

40

20
32
40

42

AGK series

64

66

Diameter d0

Lead P
5

10

20

20
32
40

68

Precision screw SN-F


Tolerance grades
P3, P5, (T7)
and
Precision-rolled screw SN-R
Tolerance grades
T5, T7, T9,
(P5)

82
d0 x P

82

20 x 5, 20, 40
32 x 5, 10, 20, 32
40 x 5 / 50 x 5
40 x 10, 12, 16, 20, 40
1500 2500

4500 5000

7500

Maximum length (mm)


Acceptance conditions

82

standard, available at short notice


upon request

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Product Overview, Drive Units with Driven Nut


FAR with Side Drive and MHS with Hollow-Shaft Motor
For drives using ball screws, the conventional solution today is to have the
screw driven by an AC servo motor either
directly or by way of a toothed belt.
The driven screw rotates and the nut
performs the required feed movement.
The maximum permissible axial forces
(buckling load) and maximum possible
linear speeds are frequently limited by
the length of the screw and the design
of the end bearings. Because of this,
the achievable nut speed falls far short
of its maximum permissible value (d x n).
Today, a screws operating speed
comes close to its critical whirling
speed, especially in high dynamic
applications. This, combined with
thermal influences, makes it very
difficult for physical reasons to
implement a high dynamic machine
concept. Positioning accuracy may
also be limited as a result.

The FAR driven nut takes a different


approach.
In this solution, the screw does not
rotate, and the ball nut is driven by
a toothed belt.
There are no end bearings to limit the
speed or rigidity. Undesirable thermal
influences can be largely reduced by
stretching the screw. It is also possible
to have a hollow screw and to dissipate the generated heat simply by
means of liquid cooling.
If desired, the nut assembly can be
delivered as a complete functional unit
with side drive timing belt and AC
servo motor.
With this configuration, even new
drive concepts, such as several
motors on one screw, can be easily
put into practice.

Vertical axis of a machining center:


Ball screw drive with driven nut and
side drive

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

Drive Units

The concept of the MHS 40 drive unit


goes one decisive step further.
In this model, the mode of operation
of a ball screw, i.e. its transformation
of a rotary movement into a linear
movement, has been redefined.
The nut is connected to the hollow-shaft
motor without any additional transmission elements. This is an ideal concept
for high dynamic applications and
makes maximum use of the dynamic
possibilities of the ball screw.

The screw of the ball screw assembly is


passed through the hollow rotor shaft of
the servo motor (hollow-shaft motor).
Transmission elements such as drive
belts or clutches are eliminated
together with their normally negative
effects on precision. Arranging the
servomotor and the ball screw on one
axis helps to save space.

Vertical axis of a machining center:


driven by MHS 40 drive unit with
hollow-shaft motor

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Characteristics of Driven Nuts


FAR and MHS Series
Basic benefits of systems
with driven nuts
Mass moment of inertia
In long screws, only the nut has to be
set into rotation during the acceleration
phase, and not the screw. The mass
moment of inertia is therefore not a
determining factor. The ball nuts mass
moment of inertia is relatively small and no
longer depends on the specified stroke.
Dynamics
Complex end bearing designs, e.g.
fixed bearings with angular contact ball
bearings at both ends, are no longer
required to achieve high dynamics.
Stretching
Since screw is stationary, it can be
stretched with relatively little effort:
Higher permissible axial load
(buckling load); not limited by end
bearings
Compensation of thermal influences
Higher total rigidity
Liquid cooling
Improved cooling can be easily accomplished by selecting a hollow screw.
Since the screw is stationary, it can be
cooled with relatively little design effort.
With a controlled cooling system,
length variations due to temperature
fluctuations can be virtually eliminated.
Design and manufacturing tolerances
The use of nuts with high parallelism
and radial runout accuracy reduces
whipping of the screw to a minimum.
All functional elements come from a
single source, so there is no need for
customer-built designs.

Dimensioning
FAR and MHS drive units are sized
according to the same general
criteria as ball screw assemblies:
Service life calculation
The service life calculation of the drive
unit is done analogous to the classic
screw thread drive. The average revolution and average load are calculated
in this way.
When dealing with a complete unit,
one must use the lowest basic load
rating of the nut or bearing for the
calculation.
Calculation of the permissible drive
torque
The maximum permissible drive torque
at the motor journal or the hollow-shaft
is expressed in formulas and shown in
charts, giving a clear indication of the
various factors involved. For each ball
screw size and length, the classic
Euler buckling load of the screw is
shown, as well as the respective end
fixity and the specific drive journal
used along with the load forces.
Permissible speed and critical
speed
The permissible speeds of the screw
thread drive are influenced by different
factors:
Screw lead
Maximum permissible nut speed per
minute (d x n value)
Permissible speed of the end
bearings
Length-dependent critical speed of
the screw, although this is no
longer a genuine restriction in the
version with driven nut and fixedfixed end fixity.
The only significant limitations are
when the screw is fixed at one end
only. The position of the nut is
important in this case, as shown in
the charts on the following pages.
A calculation example that shows the
interplay of all chosen components for
an application example can be found

Critical speed

d2

107 (min
n-1)
l n2
nkperm. = 0.8 . nk (min-1)

nk fnk

= critical speed
(min-1)
nk
nkperm. = permissible
operating speed
(min-1)
fnk
= corrector value
determined by bearing
d2
= root diameter, see
Dimension Tables
(mm)
ln
= critical length for
preloaded nut
systems
(mm)
l1
= thread length
(mm)

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

Drive Units

Critical speed for driven


screw:

3000

For the driven, rotating screw, the


critical speed depends on the type
of end fixity:
I fixed-fixed, II fixed-floating, IV fixedfree, and (very rare) III floating-floating.

2000

800
2000

3000

600

Critical speed nk (min-1)

500
3000

2000

400
1000

300

2000
800
1000

200

600
800

50

500

1000
400

600
800
500

100
90

300
600

400

80

500

70
200

300

60

400

50
300

200

Recommended operating range


for driven screw

40
100

200

30

90

nk

80
70
100

20

End fixity
fnk value

floating
floating

0.4

0.5

0.6

0.8

9 10

9 10

Length ln (m)

free

floating
fixed

I
II
III
27.4 18.9 12.1

0.3

fixed

fixed

0.2

fixed

For systems with a driven screw the


critical speed often restricts the achievable linear speed. When horizontally
mounted, the rotating screw itself can
generate oscillations in the system as
a result of its deflection or any imbalances. Depending on the free screw
length and the speed, the oscillations
can reach resonance level or very high
amplitudes (whipping), which destroy
the system. For this reason, the screw
is generally sized so that its maximum
operating speed will be 20% below the
critical speed.

1000

3000

IV
4.3

Critical speed for driven nut:

Since the FAR and MHS drive units


use only ball nuts with highly accurate
parallelism and radial runout, any
negative influence on the total system
emanating from the ball nut can
therefore be ruled out.

nmax bearing 2700 rev/min

3000

2000

50

Critical speed nk (min-1)

For systems with a driven nut and


stationary screw, auto-excitation of
screw can be completely eliminated
by appropriate constructions. The only
remaining factors that can cause oscillation are the manufacturing accuracy
of the rotating nut and the machine
configuration.

1000
800

Effective
operating range
for driven nut

600
500

The critical speed is no longer a


restriction. The maximum linear speed
is only limited by the maximum rotary
speed of the bearings used and, in
rarer cases, the high maximum
permissible speed (d x n value) of the
ball nut.

400

300

200

fixed

fixed

0.2

End fixity
fnk value

I
27.4

0.3

0.4

0.5

0.6

0.8

Length ln (m)

10

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Characteristics of Driven Nuts


Permissible Speed as a Function of Ball Nut Position
Permissible speed of driven ball nut

For comparison: Driven screw

Fixity I fixed-fixed
Fixity II fixed-floating

Max. permissible linear speed as a function of ball nut position


Size 50x40Rx6.5 with fixed-fixed fixity and driven screw

120
Parameters:
Screw length
Screw diameter
Lead
Fixity
Stretching force, negligible
Max. speed of bearing
d x n value of ball nut

The charts shown here clearly illustrate


the benefits of the driven nut over a
conventional ball screw with a driven
screw for a size 50x40Rx6.5 unit.

100

80
v (m/min)

60

40

20
For the driven screw (top chart), the
maximum linear speed for a ball nut
favorably positioned in the middle of
the screw is approx. 60 m/min. However, this speed is only achieved at
one point in the stroke. When the nut
is positioned anywhere else along the
screw, only approx. 20 m/min can be
achieved (see chart on page 11). To
achieve a higher speed, the screw
would have to be supported. As a
result, the high rotary speed (d x n
value) of the ball nut cannot be fully
exploited in practice.

500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Ball nut position (mm)

Driven nut
Max. permissible linear speed
Size 50x40Rx6.5 with fixed-fixed fixity and driven ball nut

120

100

For fixity II fixed-floating, the floating


bearing (allowing axial displacement)
can be designed so that the deflection
line is tangential (deflection angle at the
bearing point = 0). When this is done, a
floating bearing can be considered as a
fixed bearing in the calculation.

80
v (m/min)

Driven nut
With a driven nut (bottom chart, fixity I
fixed-fixed), on the other hand, the maximum linear speed of the drive unit is
108 m/min and is permissible at any
position of the ball nut along the entire
stroke.

60

40

20

500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Ball nut position (mm)

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

11

Drive Units

The permissible rotary and linear


speeds of the FAR and MHS drive
units are listed in the following table:

FAR size

Rotary speed

Linear speed
nMax
vmaxFAR

Fixity I fixed-fixed and


Fixity II fixed-floating

32
32
32
40
40
40
50
50
50
63
63
63

3000
3000
3000
2800
2800
2800
2700
2700
2700
2300
2300
2300

30
60
96
28
56
112
27
54
108
23
46
92

Rotary speed

Linear speed
n Max

3000
3000
3000
3000
3000
3000

15
30
36
48
60
120

MHS size
vmaxMHS

.
v
= linear
vmax = nmax P max
speed (m/min)
1000 P = lead
(mm)
nmax = rotary
speed

40 x 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 12R x 6 - 4
40 x 16R x 6 - 4
40 x 20R x 6 - 3
40 x 40R x 6 - 3

(min1)

This type of end fixity is practically never used.

Fixity III floating-floating

For systems with a driven nut and fixity


fixed-free, the screw can only be sized
for short strokes in practice. To give an
extreme example, the dead weight of a
54x40 screw with a length of 5000 mm
would cause an extreme deflection in
the static state of approx. 180 mm.
Even much smaller deflections and the
resulting forces on the ball nut have to
be reliably avoided by appropriate
design measures.
In this case, even in the FAR and MHS
models the critical speed can be taken
as the limit when the ball nut is in an
unfavorable position at the end fixity
(see chart at right). According to the
chart, the maximum theoretical value is
28 m/min, but this cannot be used
because of the deflection. For practical
applications, the screw length must
therefore be limited.

v (m/min)

Critical speed for a rotating ball nut


and screw fixity IV fixed-free

Driven nut

Driven nut

Max. permissible linear speed,


size 50x40Rx6.5 with end fixity
fixed-free for a driven nut

Max. permissible linear speed,


size 50x40Rx6.5 with end fixity
fixed-free for a driven nut

120

120

100

100

80

80

v (m/min)

Conversion of rotary speed to linear


speed

x 10R x 3.969 - 5
x 20R x 3.969 - 3
x 32R x 3.969 - 3
x 10R x 6 - 5
x 20R x 6 - 3
x 40R x 6 - 3
x 10R x 6 - 6
x 20R x 6.5 - 5
x 40R x 6.5 - 3
x 10R x 6 - 6
x 20R x 6.5 - 5
x 40R x 6.5 - 3

60

60

40

40

20

20

100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400

500 1000 1500 2000 2500 3000 3500


5 4000 4500 5000

Ball nut position (mm)

Ball nut position (mm)

At the recommended maximum screw


length the linear speed for a ball nut
position of 700 mm is 108 m/min, as
can be seen in the example shown in
the chart on the far right.

Size

Recommended LMax (mm)


Lthr

32
40
50
63

1000
1200
1400
1600

12

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

Drive Units

Characteristics of Driven Nuts


Permissible Torque as a Function of Ball Nut Position

Buckling load
3000

125

2000
100

Axial load on screw Fk (kN)

With the driven nut, the permissible


drive torque is restricted by the
following parameters:
Screw length
Screw diameter
End fixity
Stretching force
Screw end geometry
Load direction; in the worst case,
an axial load on the longer portion
of the screw (buckling)

80

1000
800

63

600
500
50
400
300
40
200
32

25
100
90
80
70

20

60
50
40

16
30
12
20

10
9
8
7

6
5
6

4
3

fFK value

1.0
0.9
0.8
0.7
0.6

End fixity

2.6

IV

10.2

III

20.4

II

40.6

0.5
0.1
0.1

0.2

0.2

lk

0.2

0.3

0.3

0.4

0.3

0.4

0.5 0.6

0.2

0.3

0.4

0.5 0.6

0.5 0.6

0.8

0.8

0.4 0.5 0.6


0.8

0.8

3
5

4
7

7 8 9 10

8 9 10

8 9 10

8 9 10

Fk
Length lk (m)

The screw length, diameter and end


fixity are taken into account in the
Euler buckling equation. This gives the
permissible axial screw load (see chart
above). In practice, the formula shown
at right is used.

Fk

fFk

F kperm.

d2
2

lk

10 4 (N)

Fk
2 (N)

F Fkperm.
For a stretched screw,
the following applies
Fk
+ FR
Fkperm. =
2

The drive torque required for the operating load can be calculated using the
following formula:
Recommended maximum torques for
the geometry of screw end 51
Size
32
40
50
63

MScrperm.
(Nm)
< 40
< 150
< 180
< 190

M ta

F P
2000

Attention should be paid


to the preloaded nut idling
torque.

Mta < MScrperm.

Fk

= theoretically permissible
axial load on screw
(N)
Fkperm. = permissible axial load
during operation
(N)
fFk
= corrector value determined by bearing
d2
= root diameter,
see Dimension Tables
(mm)
= unsupported threaded
lk
length
(mm)
F
= operating load at customer (N)
= stretching force on screw
(N)
FR
The stretching force may diminish due
to a rise in temperature during operation.
This effect must be taken into account
when calculating Fkperm..

Mta
F
P

=
=
=
=

drive torque at the ball nut


(Nm)
operating load
(N)
lead
(mm)
efficiency
(approx. 0.9)

MScrperm. = permissible torque at


the screw journal

(Nm)

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

13

Drive Units

Typical application cases

Screw length; two cases


Screw diameter
End fixity, in this case fixed-fixed
Stretching force, not taken into
account (see next page)
Screw end geometry Form 51 at
both ends
Load direction; in the worst case,
an axial load on the longer portion
of the screw (buckling)

160
140
120
100

End fixity II fixed-floating:


Stretching not possible

Example: A short screw in a machine


tool axis allows a high drive torque
irrespective of the ball nut position.
Perm. torque (Nm)

Example: With a long screw axis,


as in water jet cutting, a high drive
torque can be achieved depending
on the position of the ball nut.
Perm. torque (Nm)

Parameters:

160
140
120
100

80

80

60

60

40

40

20

20

500

1500

2500

3500

4500

5500

6500

>

End fixity IV fixed-free

With end fixity fixed-free, a long


screw is not recommended.

Perm. torque (Nm)

140
120
100

2500

>

160
140
120
100
80

80

Not recommended

60

60

40

40

20

20

2000

Example: A short screw, as in a press


application, allows high torques.

160

1000

2000

3000

4000

5000

6000

7000

200

400

600

800

7500

Lmax

Ball nut position (mm)

Ball nut position (mm)

>

Screw length; two cases


Screw diameter
End fixity, in this case fixed-free
Stretching force, none
Screw end geometry Form 51 at one
end
Axial load in the direction of the fixed
bearing

Perm. torque (Nm)

This type of end fixity is practically never used.

1500

Ball nut position (mm)

End fixity III floating-floating

Parameters:

1000

Lmax

Lmax

Ball nut position (mm)

500

7500

>

End fixity I fixed-fixed:

1000

1200

1400

Lmax

14

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units

Characteristics of Driven Nuts


Stretching of Screws
Basic principles

Fixed clamping

To utilize the full performance


capability of a system with a driven nut,
the screw should be fixed at both ends
(end fixity: fixed-fixed). Stretching the
screw has the following positive
effects on the overall system:
Improves the rigidity, since the elasticity of the screw end bearings has
been eliminated.
Compensation of thermal influences
to avoid axial loads in the screw,
thus reducing the danger of
buckling.

Clamping with leaf spring

However, the change in length and


tensioning of the screw resulting from
the stretching must be kept within a
limit that is acceptable for the overall
system. Otherwise, elastic deformation
could result in excessive lead
deviations between the ball nut and
the screw, having a negative effect on
the service life.
If the screw is cooled by convection,
a temperature difference of max. 10C
can be compensated for by stretching.
For higher temperature differences,
water cooling is necessary.

Thermal expansion
Calculation of the thermal expansion of
a screw under as a result of a rise in
temperature during operation.

Stretching force
Calculation of the necessary stretching
force to counteract thermal expansion.

L = lthr x L x (

R)

where L = 0.0000115

L x E x
FR =

dN =

Compressive stress
The compressive stresses arising in
a screw with fixed-fixed end fixity as
a result of temperature variations is
calculated as shown opposite.

Sp

2
xdN
4

L = thermal expansion
lthr = thread length
L = coefficient of thermal expansion
Sp = screw temperature in operation
R = room temperature

(mm)
(mm)
(1/K)
( K)
( K)

FR = stretching force
dN = approximate diameter

(N)
(mm)

L = compressive stress
due to temperature rise
E = modulus of elasticity

(N/mm2)
(N/mm2)

lthr
d0 + d2
2

L = E x (

Sp

R)

x L

where E = 210 000 N/

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

15

Drive Units

Tensile stress
For practical applications, the screw
must be stretched so that resulting
tensile stress is higher than the
temperature-induced compressive
stress. At the same time, the permissible
tensile stress must not be exceeded.

Permissible elongation
Stretching causes the screw to elongate, which changes the screw and
thread geometry. The extent of elongation must be checked to avoid any
negative effects on the service life of
the ball screw.

Tensile stress generated in the screw by stretching


FR
Z =
x d2N
4

Z < perm.

Maximum permissible stress


perm. = 70 N/mm2

Lperm. =

Lthr
P

L Lperm.

0.002

= tensile stress

(N/mm2)

Lperm. = permissible elongation

(mm)

= lead

(mm)

Lthr

= thread length

(mm)

16

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

FAR Drive Units

Product Overview, FAR


This section contains a complete
range of driven nuts.
These products answer customers
wishes for a ready-made solution. The
large choice of sizes and screw leads
caters for all desired linear speeds and
loads. This eliminates the need for
complex customer-built constructions.

User benefits
Economy through the use of a
complete unit consisting of a ball
screw, an AC servo motor and a
side drive
Adaptation to various speeds and
loads by way of the screw lead and
belt reduction

The driven nut assembly consists of


a single ball nut
a two-row angular contact ball
bearing with integrated mounting
holes and lube port
a slotted nut
The matching side drive timing belt can
be supplied along with the assembly, if
required. Suitable AC servo motors and
drive controllers are also shown.

Various power classes by using


different motor versions
Compact design requires little
installation space
Minimal mounting effort by the
customer and integral functionality
Low system costs
High positioning accuracy

Can be combined with an IMS


(Integrated Measuring System) for
profiled rail (Catalog RA 82 350) for
direct travel measurement in applications with particularly demanding
positioning requirements

Screw with
end machining

Side drive

Driven nut
assembly

AC servo motor

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

17

FAR Drive Units

Mounting holes integrated in


bearing outer race: No additional
housing needed

Integral seals

Common lube port for


bearing and ball nut
The FAR drive unit allows lubrication of the bearing and the ball
nut with NLGI Class 2 grease
through a single lube port when
the unit is at standstill.

Slotted nut

Ball nut
Seal

Two-row angular
contact ball bearing
suitable for high thrust
forces

18

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

FAR Drive Units

Length Calculation, FAR


The main dimensions can be specified
using a simple length calculation.
LHmax = LH1 + LH2 = maximum stroke
required by customer
LC = length of customer attachment or of the motor and side
drive timing belt used by
Bosch Rexroth
LC = LRV + LE for interference
contour case 1
LFAR

= length of drive unit

LN

= unusable length; includes


the necessary excess travel
on the screw

Lthr

= LHmax + LC + LN

Lov

= Lthr + 2 x LZF

FAR size

Ball screw size

LN

LZF

Dimensions (mm)
L3
LRv

32

32x10Rx3.969-5
32x20R3.969-3
32x32R3.969-3
40x10R6-5
40x20R6-3
40x40R6-3
50x10R6-6
50x20R6-5
50x40R6-3
63x10R6-6
63x20R6.5-5
63x40R6.5-3

128
128
128
160
160
160
200
200
200
252
252
252

108
108
108
117
117
117
145
145
145
183
183
183

11
11
11
12
12
12
13
13
13
20
20
20

40
50
63

LE

90
90
90
90
90
90

313
313
313
313
313
313

Customer specific

Customer specific

Customer specific

Customer specific

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

19

FAR Drive Units

Interference contour case 1


The motor collides with the customer
structure on the right and the side drive
timing belt does so on the left, thus
limiting the stroke.

LN/2

LN/2

LE

LRV
LH1

LH2

LC

LZF

LZF

Lthr
Lov

Interference contour case 2


Customer structure on the right and
side drive timing belt on the left limit
the stroke of the driven nut.

LH2

LC
LN/2

LN/2

LH1

LE

LRV

LZF

LZF

Lthr
Lov

Interference contour case 3


The nut unit and the side drive timing
belt limit the stroke.

LH2

LC
LN/2

LN/2

LH1

LE

LRV

LZF

Lthr
Lov

LZF

20

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

FAR Drive Units

Technical Data and Dimensions, FAR


Mounting dimensions of the
drive unit without side drive
timing belt and motor
Sizes 32 - 63
Can be lubricated with NLGI Class
2 grease at standstill using the lube
port on the bearing outer race
Optional
Liquid cooling of screw

d0
P
DW
i

=
=
=
=

nominal diameter
lead (R = right)
ball diameter
number of ball track turns
in the nut

For screw rigidity, please refer to


Technical Notes.

Size
MFAR
d 0 x P x DW - i

Weight
Jrot FAR
(kg)

Mass moment of inertia


MRL
(kgm2)x10-4

32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 3
40 x 10R x 6 - 5
40 x 20R x 6 - 3
40 x 40R x 6 - 3
50 x 10R x 6 - 6
50 x 20R x 6.5 - 5
50 x 40R x 6.5 - 3
63 x 10R x 6 - 6
63 x 20R x 6.5 - 5
63 x 40R x 6.5 - 3

5.8
5.9
6.3
7.3
7.5
8.4
8.3
9.1
9.5
12.8
13.5
13.9

22.5
22.9
25.1
42.7
43.9
50.7
67.6
76.0
79.8
139.0
156.4
161.6

1.0
1.0
1.0
1.2
1.2
1.2
1.4
1.4
1.4
2.3
2.3
2.3

* Load ratings calculated as specified in DIN 69051


** Bearing with ball nut at 5% preload
Form

51

209
209
209
309
309
309
359
359
359
409
409
409

Bearing friction torque


RG
(Nm)

Rigidity**
nmax
(N/m)

Max. rotary
speed***
(min-1)

377
278
273
460
332
323
556
525
386
627
599
461

3000
3000
3000
2800
2800
2800
2700
2700
2700
2300
2300
2300

*** Limited by max. rotary speed of bearing. Bearing


preloaded without external operating load.
Duty cycle 25%; max. steady state temp. +50C

Size
d 0 x P x DW - i

Part number
of ball nut and
bearing assembly

Load ratings*
dyn.
C
(N)

stat.
C0
(N)

d1

32
32
32
40
40
40
50
50
50
63
63
63

R2532
R2532
R2532
R2532
R2532
R2532
R2532
R2532
R2532
R2532
R2532
R2532

31700
19700
19500
61500
37900
37000
73000
73000
46500
88800
83900
53400

58300
33700
34000
109200
62800
62300
132000
132000
85900
197000
190300
114100

31.0
31.0
31.0
38.0
38.0
38.0
48.0
48.0
48.0
61.0
61.0
61.0

x
x
x
x
x
x
x
x
x
x
x
x

10R x 3.969 - 5
20R x 3.969 - 3
32R x 3.969 - 3
10R x 6 - 5
20R x 6 - 3
40R x 6 - 3
10R x 6 - 6
20R x 6.5 - 5
40R x 6.5 - 3
10R x 6 - 6
20R x 6.5 - 5
40R x 6.5 - 3

301
301
301
401
401
401
501
501
501
601
601
601

01
11
21
01
31
41
01
31
41
01
11
21

Dimensions (mm)
d2
27.9
27.9
27.9
33.8
33.8
33.8
43.8
43.4
43.4
56.8
56.4
56.4

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

21

FAR Drive Units

Bearing
dL3

SL lube hole
6x

DN
DL

D7

SL lube
hole

D5

D5

Belt pulley

KL

D6

tL

L3

BL

BN

d0

d1

d2

LFAR

Undercut form F DIN 609


Option (machined end face)
Threaded undercut
DIN 76 short

G1

DT1

D1

51

Liquid cooling of screw


on request

L1

LG1
L ZF

None

Dimensions (mm)
D1

D5
h6

20
20
20
30
30
30
35
35
35
40
40
40

80
80
80
93
93
93
105
105
105
130
130
130

D6

D7

DT1

G1

LFAR LG1

LZF

L1

L3

DL
KL
-0.018

65
65
65
80
80
80
90
90
90
110
110
110

M8
M8
M8
M8
M8
M8
M8
M8
M8
M10
M10
M10

h6
h6
h6
h6
h6
h6
h6
h6
h6
h6
h6
h6

M20x1
M20x1
M20x1
M30x1.5
M30x1.5
M30x1.5
M35x1.5
M35x1.5
M35x1.5
M40x1.5
M40x1.5
M40x1.5

77
84
120
80
88
142
90
132
149
100
132
149

108
108
108
117
117
117
145
145
145
183
183
183

77
77
77
83
83
83
109
109
109
147
147
147

11
11
11
12
12
12
13
13
13
20
20
20

145
145
145
155
155
155
165
165
165
190
190
190

31
31
31
34
34
34
36
36
36
36
36
36

dL3
tL
+0.3/-0.1

120
8.8
120
8.8
120
8.8
130
8.8
130
8.8
130
8.8
140
8.8
140
8.8
140
8.8
165 11.0
165 11.0
165 11.0

8x45
8x45
8x45
8x45
8x45
8x45
8x45
8x45
8x45
8x45
8x45
8x45

SL

BL

DN

BN

8
8
8
10
10
10
12
12
12
17
17
17

M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6
M6

49
49
49
49
49
49
49
49
49
60
60
60

75
75
75
92
92
92
105
105
105
120
120
120

16
16
16
18
18
18
18
18
18
20
20
20

22

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

FAR Drive Units

Technical Data and Dimensions, FAR with Side Drive and Motor
Mounting dimensions of the
FAR drive unit with side drive
timing belt and AC servo
motor with brake
Sizes 32 and 40
Can be lubricated with NLGI Class
2 grease at standstill using the lube
port on the bearing outer race
Optional
Liquid cooling of screw

d0
P
DW
i

=
=
=
=

nominal diameter
lead (R = right)
ball diameter
number of ball track turns
in the nut

Size
d0 x P x DW - i
32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 3
32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 3
32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 3
40 x 10R x 6 - 5
40 x 20R x 6 - 3
40 x 40R x 6 - 3
40 x 10R x 6 - 5
40 x 20R x 6 - 3
40 x 40R x 6 - 3
40 x 10R x 6 - 5
40 x 20R x 6 - 3
40 x 40R x 6 - 3

Dimensions (mm)
A
390
390
390
390
390
390
390
390
390
398
398
398
398
398
398
398
398
398

A1
89
89
89
89
89
89
89
89
89
99
99
99
99
99
99
99
99
99

A2

LRV

BRV

F1

F2

F3

205
205
205
210
210
210
208
208
208
205
205
205
210
210
210
208
208
208

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90

160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160

100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100
100

136
136
136
136
136
136
136
136
136
150
150
150
150
150
150
150
150
150

10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

23

FAR Drive Units

F3

F1

A2

W1

DL

W2

HE

DN

F2

A1

S1

LE

LRV

B RV

Motor

Motor type**

Size

32x10Rx3.969 - 5
32x20Rx3.969 - 3
32x32Rx3.969 - 3
40x10Rx6 - 5
40x20Rx6 - 3
40x40Rx6 - 3

MKD 090B-047
MKD 090B-047
MKD 090B-047
MKD 090B-047
MKD 090B-047
MKD 090B-047

Torque
Rated rotary
MMN
MMmax*
speed*
rated
maximum nK
(Nm)
(Nm)
(min-1)
12
12
12
12
12
12

43.5
43.5
43.5
43.5
43.5
43.5

3200
3200
3200
3200
3200
3200

Mass moments of inertia

Weight

Motor
JM (kgm2)10-4

Brake
JBR (kgm2)10-4

43
43
43
43
43
43

3.5
3.5
3.5
3.5
3.5
3.5

Motor
MBr (Nm)
14
14
14
14
14
14

Brake
mM (kg)
1.1
1.1
1.1
1.1
1.1
1.1

** For AC servo motor data, please refer to Technical Data MKD and the * With controller DKC: Motor data depends on the
Controllers, Motors, Electrical Accessories catalog RE 82 710 For
control system used
Dimensions (mm)
S1
13
13
13
13
13
13
13
13
13
13
13
13
13
13
13
13
13
13

DN
75
75
75
75
75
75
75
75
75
92
92
92
92
92
92
92
92
92

DL
145
145
145
145
145
145
145
145
145
155
155
155
155
155
155
155
155
155

W1
47
47
47
47
47
47
47
47
47
47
47
47
47
47
47
47
47
47

W2

LE

HE

17
24
60
17
24
60
17
24
60
19
27
81
19
27
81
19
27
81

313
313
313
313
313
313
313
313
313
313
313
313
313
313
313
313
313
313

140
140
140
140
140
140
140
140
140
140
140
140
140
140
140
140
140
140

Side drive
timing belt
reduction
iRV
1
1
1
1.25
1.25
1.25
2
2
2
1
1
1
1.25
1.25
1.25
2
2
2

Reduced mass
moment of inertia
at the motor journal
JRV
(kgm2)10-4
79
79
79
42
42
42
14
14
14
84
84
84
45
45
45
15
15
15

Weight of
side drive
timing belt
mRV
(kg)
8.6
8.6
8.6
7.9
7.9
7.9
7.5
7.5
7.5
8.7
8.7
8.7
8.1
8.1
8.1
7.6
7.6
7.6

24

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

FAR Drive Units


Bosch Rexroth Corporation
Linear Motion and Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28276

FAR
Inquiries and Orders:

Length (mm) to be
specified by customer
FAR
size

32

40

50

63

Ball screw
size
d0 x P (right)

LHmax

Motor

32x10

MKD090B
with brake

32x20

MKD090B
with brake

32x32

MKD090B
with brake

40x10

MKD090B
with brake

40x20

MKD090B
with brake

Lthr

Drive type
Type

Gear
reduction

OF

RV

iRV=1
iRV=1.25
iRV=2

OF

iRV=1
iRV=1.25
iRV=2

RV

40x40

MKD090B
with brake

50x10

without motor X

OF

50x20

without motor X

OF

50x40

without motor X

OF

63x10

without motor X

OF

63x20

without motor X

OF

63x40

without motor X

OF

OF

RV

Customer
specific

Customer
specific

Tel:

(704) 583-4338 or
(800) 564-6524
(704) 583-0523

Fax:
Email: techdesk.chr@boschrexroth-us.com

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

25

FAR Drive Units

Example
FAR drive unit

FAR-B-S

40x20Rx6-3

1 2 T5 R 51S309 51S309

Ball nut and bearing assembly FAR-B-S

Size

Nominal diameter (mm)


Lead (mm)
Direction of lead R right
Ball diameter (mm)
Number of ball track turns in the nut

Seal system

0 none
1 standard seal

Preload

0 standard backlash
1 reduced backlash
2 5%
3 2%

Precision

T5
P3

Screw

R precision-rolled

Left screw end

T7
P5

T9

precision-rolled screw
precision screw
F precision

Form
Option

Z centering to DIN 332-D


S hex socket
K none
F for liquid cooling on request

Version
Right screw end

see left screw end

Overall length Lov (mm) of the ball screw assembly


Documentation

0 standard (acceptance test report)


is always supplied

2 torque test report


3 lead and torque test report

1 lead test report


Lubrication

0 preserved

1 preserved and nut with basic greasing

Sender
Company

Name

Address

Department
Telephone
Fax
e-mail

1 0

26

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Product Overview, MHS


This section contains an autonomous
solution for directly driven nuts.
These products answer customers
wishes for a ready-made solution. The
large choice of screw leads caters for
all desired linear speeds and loads.
This eliminates the need for complex
customer-built constructions.
The MHS driven nut assembly consists
of
single ball nut
two-row angular contact ball bearing
with integrated mounting holes and
lube port
slotted nut
hollow-shaft motor, optionally with
brake

User benefits
Economy through the use of a
complete unit consisting of a ball
screw, an AC servo motor and a
brake
Adaptation to various speeds and
loads by way of the screw lead
Motor available with or without brake
Compact design requires little
installation space
Minimal mounting effort by the customer and integral functionality
Low system costs
High positioning accuracy
Can be combined with an IMS
(Integrated Measuring System) for
profiled rail (Catalog RA 82 350) for
direct travel measurement in applications with particularly demanding
positioning requirements

Optional integrated
holding brake

Stationary screw, hence minimal


torsional vibrations and maximal
stiffness

Rotating nut directly coupled


to the rotor, stiff motor-rotor
connection
Optional liquid
cooling of the screw

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

27

MHS Drive Units

Press with MHS drive unit

Integrated multiturn resolver


feedback

Hexapod with MHS actuators


Motor winding

Two-row angular contact ball


bearing for highest axial forces

Machine tool axis with


MHS drive unit

28

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

MHS Drive Units

Length Calculation, Dimensions and Technical Data, MHS


Mounting dimensions of the
drive unit with hollow-shaft
motor
Size 40
with high-resolution hollow-shaft
encoder
Options
holding brake
liquid-cooled screw, on request
cooling fan (R1130 896 50) on
request
The main dimensions can be specified
using a simple length calculation.
LHmax = LH1 + LH2 = maximum stroke
required by customer
LMHS = length of motor with ball nut
LMHS = LM + LE
LN

= unusable length; includes


the necessary excess travel
on the screw

Lthr

= LHmax + LN + LMHS

Lov
d0
P
DW
i

Size

Screw
size
d1

MHS 095 C

51

Motor type

309
309
309
309
309
309

R1512 412 25
R1512 412 39
R1512 452 00
R1512 462 00
R1512 472 56
R1512 492 22

dyn.
C(N)

stat.
C0(N)

29100
50000
49900
49700
37900
37000

64100
86400
86200
85900
62800
62300

Ball screw
Size
d2

D1

D5

D6

D7

DT1

G1
j6

40
40
40
40
40
40

Dimensions (mm)

39
38
38
38
38
38

36.4
33.8
33.8
33.8
33.8
33.8

30
30
30
30
30
30

190
190
190
190
190
190

215
215
215
215
215
215

M12
M12
M12
M12
M12
M12

X 5R x 3.5 - 5
x 10R x 6 - 4
x 12R x 6 - 4
x 16R x 6 - 4
x 20R x 6 - 3
x 40R x 6 - 3

Ball screw
d0 x P x DW - i

MHS

40 X 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 12R x 6 - 4
40 x 16R x 6 - 4
40 x 20R x 6 - 3
40 x 40R x 6 - 3

nominal diameter
lead (R = right)
ball diameter
number of ball track turns
in the nut

Motor type
end form
d0 x P x D W - i

Load ratings

d0 x P x D W - i

= Lthr + 2 x LZF
=
=
=
=

Part number
of the nut

40 X 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 12R x 6 - 4
40 x 16R x 6 - 4
40 x 20R x 6 - 3
40 x 40R x 6 - 3

Drive torques
size
Max.
Duration* (Nm)
MMmax
only
surface
(Nm)
convection cooling
88
88
88
88
88
88

23
23
23
23
23
23

* Duration at 60 K over-temperature at the motor windings

34.5
34.5
34.5
34.5
34.5
34.5

Braking torque

Max. speed

h6
h6
h6
h6
h6
h6

M30x1.5
M30x1.5
M30x1.5
M30x1.5
M30x1.5
M30x1.5

mBr
(Nm)

nmax
(min-1)

Weight
Motor
mM
(kg)

70
70
70
70
70
70

3000
3000
3000
3000
3000
3000

33.8
33.9
34.0
34.1
34.2
35.1

Brake
mBr
(kg)
3.4
3.4
3.4
3.4
3.4
3.4

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

29

MHS Drive Units

45

45

LH1

L10

LH2

LN/2

LN/2

L4

D7

D6

LM

180

LE
LMHS

LZF

LZF

Lthr

d0

Undercut form F DIN 609

d1

d2

Lov

Option (machining of end face)

D1

51

Liquid cooling on request

G1

DT1

Threaded undercut
DIN 76 short

L1

LG1
L ZF

None

Dimensions (mm)
LE

LG1

LMHS

LM

LZF

L1

L4

L10

410
410
410
410
410
410

34
34
34
34
34
34

624
640
645
660
658
712

214
230
235
250
248
302

117
117
117
117
117
117

83
83
83
83
83
83

4
4
4
4
4
4

87
103
138
153
151
205

10
10
10
10
10
10

Mass moments of inertia


Motor
Brake
JM
JBR
(kgm2)10 -4
(kgm2)10 -4
127
128
128
129
130
137

56
56
56
56
56
56

Motor type
size
MHS 095 C

Ball screw

Dimensions (mm)

d0 x P x D W - i

LMHS

LM

LE

40 X 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 12R x 6 - 4
40 x 16R x 6 - 4
40 x 20R x 6 - 3
40 x 40R x 6 - 3

624
640
645
660
658
712

214
230
235
250
248
302

410
410
410
410
410
410

L4
4
4
4
4
4
4

L10

LZF

87
103
138
153
151
205

117
117
117
117
117
117

30

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

MHS

Bosch Rexroth Corporation


Linear Motion and Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28276

Inquiries and Orders:


Length (mm) to be
specified by customer
MHS
size

Ball screw
size
d0 x P (right)

40

LHmax

Lthr

Motor

Cooling type
Type

40x10

MHS
without brake

Without cooling

40x12

MHS
with brake

With fan

40x16
40x20
40x40

Tel:

(704) 583-4338 or
(800) 564-6524
(704) 583-0523

Fax:
Email: techdesk.chr@boschrexroth-us.com

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units

31

MHS Drive Units


MHS

MHS drive unit

40 x 40R x 6-3

2 P5 R

51K309

51K309

Drive unit type MHS


with AC servo motor

Size

Nominal diameter (mm)


Lead (mm)
Direction of lead R right
Ball diameter (mm)
Number of ball track turns in the nut

Seal system

0 none
1 standard seal

Preload

2 5%
3 2%

Precision

(P5) T5 T7 T9 precision-rolled screw SN-R


P3 P5 (T7) precision screw SN-F

Screw

SN-R precision-rolled

Left screw end

2* reinforced seal

SN-F precision

Form
Option

Z centering to DIN 332-D


S hex socket
K none
F for liquid cooling on request

Version
Right screw end

see left screw end

Overall length Lov (mm)


Documentation

0 standard (acceptance test report)


is always supplied
1 lead test report

2 torque test report


3 lead and torque test report

Lubrication

0 preserved

1 preserved and nut with basic greasing

* for the precision-rolled version, note higher friction torque!


N.B.: It is also possible to process inquiries based on a customers drawing.

Sender
Company

Name

Address

Department
Telephone
Fax
e-mail

1 1

32

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Product Overview, AOK


The AOK drive unit is the
classic ball screw assembly
with pillow blocks and preassembled ball nut enclosure.
The drive itself can be supplied along with the unit, if so
requested by the customer.
The AOK series drive units are readily available economical drive solutions of compact design.
They combine all the performance
characteristics of a classic ball
screw drive in one unit.
When paired with Rexroth linear
guides, they offer machine
designers full design freedom for
every application.

Freely selectable length


(no standard length
increments)

Structure
Rexroth Precision Ball Screw
Assembly (BS) with screws
of various tolerance grades
and cylindrical single nut, also
available with zero backlash
or preloaded

High positioning accuracy and repeatability


due to ball screw assembly with zerobacklash nut system

Ball nut enclosure made of


aluminum finished on all sides
with reference edges on both sides
Pillow block unit made of robust
extruded aluminum profile with
reference edges on both sides and
mounting holes as well as locating
feature for motor mounting

Easy motor attachment thanks to locating


feature and tapped hole on pillow block

Choice of drive elements


Motor with motor mounting bracket
and coupling connector can be
provided complete as an assembly
Belt side-drive attachments with
selectable ratios and mounting
arrangements complete with
attached motor as an assembly
Maintenance-free digital AC servo
motor with integrated brake and
attached feedback

Drive with motor mount and coupling


or side drive timing belt, as desired

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

33

MHS Drive Units

High linear speed thanks


to double floating bearings

Rapid mounting and easy alignment due


to the machined reference edges on the
ball nut enclosure and the pillow block

Optimal performance and


high load ratings

Supporting frames can be easily and


rapidly built using our proven aluminum
profile construction kit. Please refer to
catalog Basic Mechanical Elements
(MGE 3 842 529 114).

34

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Dimensioning the AOK


AOK drive units are sized according
to the same criteria as for ball screw
assemblies:
Service life calculation
The service life of the drive unit is calculated in a similar way as for a classic
ball screw drive. The average speed
and average load are calculated for this
purpose (see the Calculations section). When dealing with a complete
unit, the lowest basic load rating of the
nut or bearing must be used for the
calculation. The corresponding data is
listed in the table opposite (top right).

Permissible speed
The permissible speed of the ball screw
is influenced by different factors:
Screw lead
Maximum permissible nut speed
(d x n value)
Permissible speed of the end
bearings
Length-dependent critical speed of
the screw due to screw deflection
The permissible speeds as a function of
the drive unit length are shown in charts;
see page 44. These charts make it easy
to estimate the attainable speeds.

Calculation of the permissible drive


torque
The maximum permissible drive torque
at the motor journal is shown in charts
giving a clear indication of the various
factors involved; see page 46.
The classic Euler buckling load of the
screw is shown for each ball screw size
and length, as well as the respective
bearing configuration and the specific
drive journal used along with the side
drive timing belt.
Friction torques, mass moments of
inertia and moved masses can be found
in the corresponding tables on the
following pages.
A calculation example that shows the
interplay of all chosen components for
an application example can be found in
the Calculation and Examples section.

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

35

MHS Drive Units

AOK drive units are mounted with the


MGA-Z ball nut enclosure and supplied
with all attachments; see Inquiries and
Orders.
MGA-Z
Ball nut enclosure with
cylindrical single nut

AOK size

Part number

AOK load ratings


of the ball nut

Rigidity* 2%
dyn.
stat.

20
20
20
32
32
32
32
40
40
40
40

R1512 112 43
R1512 172 07
R2522 120 01
R1512 312 52
R1512 340 52
R1512 370 52
R1512 390 52
R1512 412 21
R1512 440 12
R1512 470 12
R1512 490 52

14900
13300
8000
21600
26000
19700
19500
29000
29000
29000
29000

205
165
145
300
370
248
248
430
400
320
312

x 5R x 3 - 4
x 20R x 3.5 - 3
x 40R x 3.5 - 1x4
x 5R x 3.5 - 4
x 10R x 3.969 - 5
x 20R x 3.969 - 3
x 32R x 3.969 - 3
x 5R x 3.5 - 5
x 10R x 6 - 4
x 20R x 6 - 3
x 40R x 6 - 3

24700
18800
14900
40000
47000
33700
34000
64000
64000
64000
62300

* Rigidity of the unit consisting of ball nut enclosure and ball nut
Further suitable ball nut types, e.g.
flanged single nuts, can be found in
the main Precision Ball Screw
Assemblies catalog R310A 3301. The
many combinations available can also
be used in the drive units, but the units
would be delivered unassembled.
Please consult us.
For calculation purposes, the lowest
load rating of the ball nut or bearing
must be used in these cases.

Example: FSZ-E-S
Single nut with flange
ECOplus series

d0 = nominal diameter
P = lead (R = right)
DW = ball diameter
i
= axb
a: bearing turns per thread
b: number of bearing threads
on the screw

Size

Part number
of the nut

Load ratings*
dyn.
C
(N)

stat.
C0
(N)

R1502
R1502
R1502
R1502
R1502
R1502
R1502

14300
21600
26000
13500
29000
29000
29000

21500
40000
47000
21800
64000
64000
62800

d0 x P x D W - i
20 x 5R x 3 - 4
32 x 5R x 3.5 - 4
32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 2
40 x 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 20R x 6 - 3

110 41
310 41
340 41
370 41
410 41
440 41
470 41

* Load rating with bearing SEC-F

Example: FEP-E-S
Single nut with flange
Speed series

Size
d0 x P x DW - i
20 x 40R x 3.5 - 1 x 4
32 x 32R x 3.969 - 1.2 x 4

* Load rating with bearing SEC-F

Part number
of the nut

R2522 100 11
R2522 300 01

Load ratings*
dyn.
C
(N)
8000
26000

stat.
C0
(N)
14900
47000

36

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Stroke and Length Calculations, AOK


The main dimensions can be specified
using a simple length calculation.

LHmax = maximum stroke


required by customer
LA

= length of ball nut enclosure

LN

= unusable length; includes


the necessary excess travel
on the screw

Lref

= LHmax + LA + LN

LAOK

= Lref + L2 + B1 + B11

d0
P

= nominal diameter
= lead (right)

AOK size

20
32
40

Ball screw size


d0 x P

Length of the ball


nut enclosure
LA

20 x 5/20/40
32 x 5/10/20/32
40 x 5/10/20/40

100
150
180

Dimensions for AOK length calculation (mm)


Unusable length
LN

B1

B11

L1

L2

L11

80
128
160

60
60
65

60
70
80

42
40
45

42
38
45

4
4
4

L20

L31

60
78
93

47
60
68

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

37

MHS Drive Units

LA

L2

B1

LN/2

LHmax/2

LHmax/2

LN/2

B11

Lref
L20

L1

L11
Lthr

L31

Lov
LAOK

Example of a stroke and length


calculation for AOK 32x20

The required stroke is 1650 mm.

Lref
Lref
Lref

= LHmax + LA + LN
= 1650 mm + 150 mm + 128 mm
= 1928 mm

LAOK = Lref + L2 + B1 + B11


LAOK = 1928 mm + 58 mm + 60 mm + 70 mm
LAOK = 2116 mm

38

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

MHS Drive Units

Technical Data and Dimensions, AOK


The mounting dimensions for the drive
unit and the tolerance specifications for
the adjoining structure are given below.
For inquiries, there are corresponding
CAD files available in AutoCAD format.

Lmtg* = Lref + B2 + (B11/2)


Lmtg* = LAOK - L2 - B1 + B2 - (B11/2)
* Lmtg = mounting length

d0
P

=
=

nominal diameter
lead (right)

Size
d0 x P

B1 B2

B3

B4

B11 B12 B13

BA

BA1

0.02

20x5/20/40
32x5/10/20/32
40x5/10/20/40

40
40
40

20
20
20

60
70
80

25
30
35

10 75
10 100
10 120

h7

55
68
80

10
16
25

EA2

55
75
90

60 85
100 95
120 115

N7
TA2
HA1

O1

Top-down fastening of ball nut


enclosure

Bottom-up fastening of ball nut


enclosure

O2

N8

M10x35
M12x40
M16x45

19
22
22

Size
d0 x P
20x5/20/40
32x5/10/20/32
40x5/10/20/40

O1

N7

M8x75
M10x85
M14x110

20
25
30

81

H2

H3

H4

HA HA1 HA5

28
28
33

10
10
10

44 75
49 80
56 105

0.015

41 81
46 91
56 111

Screw ends:
Form

31

Size
d0 x P
20x5/20/40
32x5/10/20/32
40x5/10/20/40

H1

0.01

HA

HA
TA2

HA1

40
50
60

-0.013

SA1

SA1

N8

O2

60 10
60 10
65 12.5

Dimensions (mm)
D1
D22 EA1

15
16
18

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

39

MHS Drive Units

LA
L2

B1

SA5-TA5 deep (4x)

L22

B11

LA5=0

D1
D22

H1

HA5

L3

SA6

Lref
LAOK

Lmtg*
B12

B3 B2
EA2

B13

EA1

M3

M13

Countersink
for O-ring
7x1.5

S11

B4

S1 (4x)
S2 (2x)

SA1-TA1 deep (4x)

* Lmtg = mounting length

L2

L22

L3

LA

M1

M2

M3

M13

S1

S2

120
120
150

10.5 9.7
10.5 9.7
13
11.7

Dimensions (mm)
S3
S11
SA1

SA2

SA5

SA6

T3

TA1

TA2

TA5

V1

V2

M8
M8
M10

8.5
10.5
14.5

M6
M6
M6

18
20
26

15
15
20

20
20
25

63
66
86

8
8
8

66
90
100

50
46
65

0.015

25
35
50

15
18
20

100
150
180

72.5
72.5
90

80 120
103 120
116 150

10.5
10.5
13

M10
M12
M16

Parallelism of custom assembly with


pillow blocks and rail guides:

BA
M2
BA1

S3-T3 deep

(4x)
H4

V2

H0.01

// 0.01

H3

V1
M1

M20
M1

2xM1

Size
d0 x P
20x5/20/40
32x5/10/20/32
40x5/10/20/40

M200.01

H
H2

42
58
45

35
22.5
30

// 0.01

40

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Technical Data and Dimensions, AOK with Motor Mount,


Coupling and Motor
The dimensions for the drive unit version with motor mount, coupling and
motor are given below.
For inquiries, there are corresponding
CAD files available in AutoCAD format.
Additional technical data and accessories for the servo drives used can
be found in the following catalogs
RE 82 710 and R310D0 2725.

Size

Ball
screw
d0 x P

Friction torque
at the motor journal
MRS (Nm)

AOK 20

20x 5
20x20
20x40
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

0.40
0.50
0.60
0.80
0.90
0.90
1.00
1.20
1.50
1.30
1.60

AOK 32

AOK 40

d0
P

=
=

nominal diameter
lead (right)

AOK
size

Ball screw
size
d0 x P

Motor type

Rated torque
MKN (Nm)

20

20x5
20x20
20x40
20x5
20x20
20x40
20x5
20x20
20x40
32x5
32x10
32x20
32x32
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

MSM 040B
MSM 040B
MSM 040B
MKD 041B
MKD 041B
MKD 041B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B

19
19
19
19
19
19
19
19
19
50
50
50
50
50
50
50
50
98
98
98
98

32

40

Technical data of couplings


Mass moment of inertia
JK (kgm2)10-4
0.57
0.57
0.57
0.57
0.57
0.57
0.57
0.57
0.57
2
2
2
2
2
2
2
2
3.9
3.9
3.9
3.9

Weight
mK (kg)
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.7
0.7
0.7
0.7
0.7
0.7
0.7
0.7
0.9
0.9
0.9
0.9

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

41

MHS Drive Units


MKD 041B with brake

Part number R3471 010 03

MKD 071B with brake

Part number R3471 011 03

MKD 041B without brake

not standard

MKD 071B without brake

not standard

45

45

HE

D
ES

LE

45

SE1

LE1

LMF

LE1

LE

HE

DE

LMF

SE1

45

MKD 090B with brake

Part number R3471 013 03

MSM 040B with brake

Part number R3471 075 03

MKD 090B without brake

not standard

MSM 040B without brake

Part number R3471 074 03

45

45

45

45

HE

LE1
LMF

LE

HE

D
ES

DE

LE

SE1

1
SE

LE1
LMF

Technical data of motors


Motor type

MSM 040B
MKD 041B
MKD 071B
MKD 090B

Torque
MMN
rated
(Nm)
2.4
2.7
8.0
12.0

MMmax*
maximum
(Nm)
7.1
11.3
26.2
43.5

Ambient temperature Tamb 0 to +45C;


Protection class IP 65;
Insulation class DIN VDE 0530 Part 1: F

Rated speed
nK
(min-1)
3000
6000
4500
3200

Mass moments of inertia


Motor
JM (kgm2)10-4

Brake holding
torque

Weight

Brake
JBR (kgm2)10-4 MBr (Nm)

0.67
1.7
8.7
43.0

0.08
0.16
0.72
3.6

Motor
mM (kg)

2.45
2.2
5.0
11.0

Brake
mBr (kg)

3.1
4.4
8.8
14.0

0.7
0.25
0.62
1.1

* Dependent on selected controller for further


information, see RE 82 710 and R310D0 2725.

DES
0.2

HE

Motor mount and motor dimensions (mm)


LE
LE
LE1
without brake
with brake

LMF

SE1

70
70
70
95
95
95
130
130
130
130
130
130
130
165
165
165
165
165
165
165
165

80
80
80
82
82
82
115
115
115
115
115
115
115
140
140
140
140
140
140
140
140

157.5
157.5
157.5
-

90
90
90
95
95
95
125
125
125
125
125
125
125
133
133
133
133
133
133
133
133

6
6
6
6.6
6.6
6.6
9
9
9
9
9
9
9
11
11
11
11
11
11
11
11

191.5
191.5
191.5
243
243
243
264
264
264
264
264
264
264
313
313
313
313
313
313
313
313

3
3
3
8
8
8
9.5
9.5
9.5
9.5
9.5
9.5
9.5
14
14
14
14
14
14
14
14

42

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Technical Data and Dimensions, AOK with side drive and motor
The dimensions for the drive unit version with side drive timing belt and
motor are given below.
For inquiries, there are corresponding
CAD files available in AutoCAD format.
Additional technical data and accessories for the servo drives used can
be found in the following catalogs
RE 82 710 and R310D0 2725.

d0
P

=
=

nominal diameter
lead (right)

iRV

side drive timing belt reduction

* Leads 12 and 16 only in combination with ball nuts from the main catalog

Side drive timing belt dimensions (mm)


Size
Motor
AOK 20

AOK 32

AOK 40

d0 x P
20 x 5
20 x 20
20 x 40
20 x 5
20 x 20
20 x 40
20 x 5
20 x 20
20 x 40
32 x 5
32 x 10
32 x 20
32 x 32
32 x 5
32 x 10
32 x 20
32 x 32
40 x 5
40 x 10/12/16*
40 x 20
40 x 40
40 x 5
40 x 10/12/16*
40 x 20
40 x 40
40 x 5
40 x 10/12/16*
40 x 20
40 x 40
40 x 5
40 x 10/12/16*
40 x 20
40 x 40

MSM 040B
MSM 040B
MSM 040B
MKD 041B
MKD 041B
MKD 041B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B

A
231
231
231
231
231
231
287
287
287
300
300
300
300
300
300
300
300
349
349
349
349
349
349
349
349
409
409
409
409
409
409
409
409

A1
47.5
47.5
47.5
47.5
47.5
47.5
56
56
56
59
59
59
59
59
59
59
59
63
63
63
63
63
63
63
63
77
77
77
77
77
77
77
77

A2
122
122
122
122
122
122
155
155
155
165
165
165
165
162
162
162
162
212
212
212
212
205
205
205
205
240
240
240
240
238
238
238
238

BRV
88
88
88
88
88
88
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
160
160
160
160
160
160
160
160

LRV
51
51
51
51
51
51
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
90
90
90
90
90
90
90
90

Weight
MRV (kg)
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request
on request

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

43

MHS Drive Units

BRV corresponds to width


of side drive timing belt.

35

& !7

35

Motor type

MSM 040B
MKD 041B-144
MKD 071B-061
MKD 090B-047

<!7

Torque
MMN
rated
(Nm)

MMmax*
maximum
(Nm)

2.4
2.7
8.0
12.0

7.1
11.3
26.2
43.5

<!

!&

<(M

Rated speed
nK
(min -1)

Mass moments of inertia


Motor
JM (kgm2)10-4

3000
6000
4500
3200

0.67
1.7
8.7
43.0

Brake holding
torque

Brake
JBR (kgm2)10-4 MBr (Nm)
0.08
0.16
0.72
3.6

2.45
2.2
5.0
11.0

Ambient temperature Tamb 0 to +45C; Protection class IP 65;


Insulation class DIN VDE 0530 Part 1: F

Weight
Motor
mM (kg)

Brake
mBr (kg)

3.1
4.4
8.8
14.0

0.7
0.25
0.62
1.1

* With controller DKC

Motor dimensions (mm)


Side drive timing
belt reduction
iRV
1
1
1
1
1
1
1
1
1
1
1
1
1
2
2
2
2
1
1
1
1
2
2
2
2
1
1
1
1
2
2
2
2

Reduced moment
of inertia
JRV (kgm2)10-4
250
250
250
240
240
240
1420
1420
1420
1400
1400
1400
1400
260
260
260
260
1590
1590
1590
1590
270
270
270
270
7780
7780
7780
7780
1260
1260
1260
1260

Permissible
torque
MRV (Nm)
2.1
3.6
4.1
2.1
3.6
4.1
2.3
4.3
5.0
12
19
19
19
6
11
13
13
26
26
26
26
13
13
13
13
26
52
67
67
13
26
33.5
33.5

Friction
torque
MRRV (Nm)
0.4
0.4
0.4
0.4
0.4
0.4
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.6
0.6
0.6
0.6
0.6
0.6
0.6
0.6

DES
0.2
70
70
70
95
95
95
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
165
165
165
165
165
165
165
165

HE
80
80
80
82
82
82
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
140
140
140
140
140
140
140
140

LE

LE

without brake

with brake

157.5
157.5
157.5
-

191.5
191.5
191.5
243
243
243
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
313
313
313
313
313
313
313
313

LE1

SE1

3
3
3
8
8
8
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
14
14
14
14
14
14
14
14

6
6
6
6.6
6.6
6.6
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
11
11
11
11
11
11
11
11

44

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Permissible Speeds for AOK


Permissible speed vperm.

vperm. (m/min)

Size 20
20

80

160

17.5

70

140

15

60

120

12.5

50

100

10

40

80

7.5

30

60

20

40

2.5

10

20

AOK

20x40

20x5

20x20

500

1000

1500

2000

2500

Lref (mm)

100

15.63

31.25 62.5

12.5

25

50

80

9.38

18.75

37.5

60

6.25

12.5

25

40

3.13

6.25 12.5

20

0
32x32

32x10

32x20

AOK
0
32x5

vperm. (m/min)

Size 32

500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

45

MHS Drive Units

25

50

100

20

40

80

15

30

60

10

20

40

10

20

0
40x20

40x40

vperm. (m/min)

AOK

100
12.5

500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Lref (mm)

10.0
80

60
7.5

5.0
40

2.5
20
AOK
00
40x5

40x10

vperm. (m/min)

Size 40

500

1000

1500

2000

2500

3000

3500

4000

4500

5000

Lref (mm)

46

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

MHS Drive Units

Permissible Drive Torque for AOK


Permissible drive torque Mperm.
The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

Size 20x5
Mperm. (Nm)

5
OF; MF: 3.9 Nm
4

AOK

MKD 071B iRV=1: 2.3 Nm


2

MSM 40B; MKD 041B iRV=1: 2.1 Nm

0
500

1000

1500

2000

2500

Lref (mm)

Mperm. (Nm)

Size 20x20

10

OF; MF: 9.5 Nm

AOK

9
8
7
6
5

MKD 071B iRV=1: 4.3 Nm

4
3

MKD 041B / MSM 040B iRV=1: 3.6 Nm

2
1
0
500

1000

1500

2000

2500

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

47

MHS Drive Units

OF

MF

RV

Mperm. (Nm)

Size 20x40
12
10

OF; MF: 9.8 Nm

AOK

8
6
4

MKD 071B iRV=1: 5.0 Nm

MSM 40B; MKD 041B iRV=1: 4.1 Nm

2
0
500

1000

1500

2000

2500

Lref (mm)

48

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

MHS Drive Units

Permissible Drive Torque for AOK

Size 32x5

Mperm. (Nm)

Permissible drive torque Mperm.


The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

16
OF; MF: 13 Nm
14
12

MKD 071B iRV=1: 12 Nm

10
8
6

AOK

4
2
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Size 32x10

Mperm. (Nm)

MKD 071B iRV=2: 6 Nm on the motor journal

Lref (mm)

30
OF; MF: 26 Nm
25

20

MKD 071B iRV=1: 19 Nm

15

10

AOK

0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

MKD 071B iRV=2: 11 Nm on the motor journal

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

49

MHS Drive Units

Size 32x20

MF

Mperm. (Nm)

OF

40

RV

OF; MF: 37 Nm

35
30
25
20

MKD 071B iRV=1: 19 Nm

AOK

15
10
5
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Size 32x32

Mperm. (Nm)

MKD 071B iRV=2: 13 Nm on the motor journal

40

Lref (mm)

OF; MF: 37 Nm

35
30

AOK

25
20

MKD 071B iRV=1: 19 Nm

15
10
5
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

MKD 071B iRV=2: 13 Nm on the motor journal

Lref (mm)

50

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

MHS Drive Units

Permissible Drive Torque for AOK

Size 40x5

Mperm. (Nm)

Permissible drive torque Mperm.


The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

30

OF; MF; MKD 071B / MKD 090B iRV=1: 26.0 Nm


25

20

15

AOK

10
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Lref (mm)

Size 40x10

Mperm. (Nm)

MKD 071B / MKD 090B iRV=2: 13.0 Nm on the motor journal

60
OF; MF; MKD 090B iRV=1: 52.0 Nm
50

40

30

MKD 071B iRV=1: 26.0 Nm

20

10

AOK

0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Lref (mm)
MKD 090B iRV=2: 26.0 Nm on the motor journal
MKD 071B iRV=2: 13.0 Nm on the motor journal

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

51

MHS Drive Units

Size 40x12

MF

Mperm. (Nm)

OF

RV

80
70
60
50
40
30
20
AOK
10
675 1375 2075 2775 3475 4175 4875 5575 6275

Lref (mm)

Size 40x16

Mperm. (Nm)

* Leads 12 and 16 only in combination with ball nuts from the main catalog

100

80

60

40

20

AOK
0
675 1375 2075 2775 3475 4175 4875 5575 6275

Lref (mm)

52

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

Permissible Drive Torque for AOK

Size 40x20

Mperm. (Nm)

Permissible drive torque Mperm.


The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

120
OF; MF: 103 Nm
100

80
MKD 090B iRV=1: 67 Nm
60

40
MKD 071B iRV=1: 26 Nm
20

AOK

0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Size 40x40

Mperm. (Nm)

MKD 071B iRV=2: 13.0 Nm on the motor journal


MKD 090B iRV=2: 33.5 Nm on the motor journal

Lref (mm)

120
OF; MF: 103 Nm
100

80
MKD 090B iRV=1: 67 Nm
60

40
MKD 071B iRV=1: 26 Nm
20

AOK

0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

MKD 071B iRV=2: 13.0 Nm on the motor journal


MKD 090B iRV=2: 33.5 Nm on the motor journal

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

53

MHS Drive Units

OF

MF

RV

54

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

MHS Drive Units

AOK
Inquiries and Orders:
Example:
AOK32 40x20

MKD071B
OB X

Bosch Rexroth Corporation


Linear Motion and Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28276
RV

iRV=2 X

SEC-F X

Tel:

(704) 583-4338 or
(800) 564-6524
(704) 583-0523

Fax:
Email: techdesk.chr@boschrexroth-us.com
MGA

SEC-L X

For inquiries/orders: Please check the appropriate boxes below and enter the length in at least one of the fields provided.
Size
AOK

Size
d0 x P (right)

20

20x5

Motor
without / with
brake

Drive type
Type
Gear
reduction

Fixed bearing

Ball nut enclosure

Floating bearing

MSM040B
OB
MB

OF

SEC-F X

MGA-Z

SEC-L X

SEC-F X

MGA-Z

SEC-L X

SEC-F X

MGA-Z

SEC-L X

20x20
20x40

MF
MKD041B
MB

RV01

iRV=1

MKD071B
MB
32

32x5

MKD071B
MB

OF

32x10

MF

32x20

RV

iRV=2

32x32
40

40x5

MKD071B
MB

40x10
40x12

iRV=1

OF
MF

MKD090B
MB

40x16
40x20

RV

iRV=1
iRV=2

40x40

OF
MF

RV

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

55

MHS Drive Units


Length (mm) to be
specified by customer

LAOK

Lref

Ball screw drive example

MGA-Z

LHmax

Lthr

40 x 20R x 6-3 1 3 T5 R 82K203 31K200

Nut type
Ball nut enclosure MGA-Z with cylindrical single nut
ZEM-E-S
Further suitable ball nut types, e.g. flanged single
nuts, can be found in the main Precision Ball Screw
Assemblies catalog R310A 3301. The many combinations available can also be used in the drive
units, but the units would be delivered unassembled. Please consult us.
Size

Nominal diameter (mm)


Lead (mm)
Direction of lead R right
Ball diameter (mm)
Number of ball track turns in the nut

Seal system

0 none

Preload

0 standard backlash
1 reduced backlash
2 5%

Precision

T5
P3

Screw

R precision-rolled

1 standard seal

Left screw end

T7
P5

T9

3 2%
6 3%

precision-rolled screw
precision screw
F precision

Form
Option

K none

Version
Right screw end

see left screw end

Overall length Lov (mm) of the ball screw drive


Documentation

0 standard (acceptance test report)


is always supplied

2 torque test report


3 lead and torque test report

1 lead test report


Lubrication

0 preserved

1 preserved and nut with basic greasing

Sender
Company

Name

Address

Department
Telephone
Fax
e-mail

0 1

56

Bosch Rexroth Corporation

AGK Drive Units

Product Overview, AGK


The AGK drive unit is additionally provided with an
enclosure and sealing strip.
Optional traveling screw supports allow maximum speeds
even over long strokes.
The AGK series drive units are readily
available economical drive solutions of
compact design.
Maximum linear speed, protection from
environmental influences and reliable
operation are all optimally combined
into one unit. When paired with Rexroth
linear guides, they offer machine
designers full design freedom for every
application.

Structure
Rexroth Precision Ball Screw
Assembly (BS) with screws of
various tolerance grades and
cylindrical single nut, also available
with zero backlash or preloaded
Variable number of optional screw
supports, to increase the linear
speed with even with long strokes
(critical speed)
Steel or polyurethane sealing strip
combined with aluminum extrusion
profile encapsulation
Ball nut enclosure made of aluminum
extrusion profile finished on all sides
with reference edges on both sides
Pillow block units made of robust
extruded aluminum profile with
reference edges on both sides and
mounting holes as well as locating
feature for motor mounting

Choice of drive elements


Motor with motor mounting bracket
and coupling connector can be
provided complete as an assembly
Belt side-drive attachments with
selectable ratios and mounting
arrangements complete with
attached motor as an assembly
Maintenance-free digital AC servo
motor with integrated brake and
attached feedback

Drive Units

R310A 3304 (03.2006)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

57

AGK Drive Units

Application examples
The table is supported symmetrically on
two rail guides with four runner blocks.
The ball nut enclosure is located at the
top. The sealing strip ensures extensive
protection of the unit.
The optional traveling screw supports
allow very high linear speeds even over
long strokes.
Motor attachments can be moved
around to serve functionality or for
space-saving.

Supporting frames can be easily and


rapidly built using our proven aluminum
profile construction kit. Please refer to
catalog Basic Mechanical Elements
(MGE 3 842 529 114).

Depending on the application requirements, the ball nut enclosure can also
be at the side instead of the top.
Interesting combinations with the rail
guides are also possible.

58

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Product Overview, AGK


Patented screw support
The patented screw support elegantly
solves the problem of the critical speed
in horizontal ball screw applications.
If the screw is not supported, a longer
stroke normally means a reduction in
the critical speed and hence the permissible linear speed, corresponding
to the square of the added length.
Ball screws normally exhibit physical
limitations in applications where high
speeds are necessary to achieve
shorter machine cycle times. These
limits can be extended with suitable
supports for the rotating screw. Up to
now, however, it was the responsibility
of the customer to implement these
designs.

The screw support motion is triggered


by the movement of the nut along the
screw. Screw supports are used in
pairs. Depending on the application,
one, two or three pairs may be necessary. When the nut moves out of the
central position, the screw supports
are pushed together in the corresponding direction and simultaneously
located in predetermined positions
behind the nut. Even when the nut is
located at the end of its stroke, the
screw will be supported radially at
several points.

In vertical operation, a further benefit is


offered by the pillow blocks. The floating bearings in the pillow blocks
contain two deep-groove ball bearings
which, in terms of the critical speed, act
almost like a fixed bearing but without
exerting any substantial stretching
forces on the screw or the machine.

Since the unsupported length between


two screw supports is relatively short,
the critical speed can be very effectively
increased. As a result, real restrictions
of the maximum possible linear speed
are practically eliminated.

With this product, Rexroth offers a


solution that truly deserves the name
Drive Unit because all of the design
details of this system have been engineered and implemented as elements
in a modular structure.

Optimum sealing with steel or


polyurethane sealing strip

Traveling screw supports for maximum


linear speeds in horizontal operation

Fixed bearing with 60 angularcontact thrust ball bearing for


maximum load ratings

Easy motor attachment due


to locating feature and
fastening screw thread

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

59

AGK Drive Units

Optimum performance, high load ratings, high


positioning and repeatability accuracy due to
preloaded Rexroth precision ball nuts for
demanding positioning applications

Rapid mounting and easy alignment


due to the machined edges on the
pillow block units

High velocities due to


double floating bearings

Overall length of the AGK drive


unit is easily adjustable and
depends on the stroke length
desired

60

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Dimensioning the AGK


AGK drive units are sized according
to the same criteria as for ball screw
assemblies:
Service life calculation
The service life of the drive unit is calculated in a similar way as for a classic
ball screw drive. The average speed
and average load are calculated for this
purpose (see the Calculations section). When dealing with a complete
unit, the lowest basic load rating of the
nut or bearing must be used for the
calculation. The corresponding data
is listed in the table opposite.

Permissible speed

Permissible drive torque

The permissible speed of the ball screw


is influenced by different factors:
Screw lead
Maximum permissible nut speed
(d x n value)
Permissible speed of the end
bearings
Length-dependent critical speed of
the screw due to screw deflection.
By using screw supports for longer
lengths, it is possible to increase the
critical speed because the screw
supports function like additional
floating bearing.

The maximum permissible drive torque


at the motor journal is shown in charts
giving a clear indication of the various
factors involved, as can be seen in the
charts section (see page 72).
The classic Euler buckling load of the
screw is shown for each ball screw size
and length, as well as the respective
bearing configuration and the specific
drive journal used along with the side
drive timing belt.

The permissible speeds as a function


of the drive unit length and the number
of screw supports are shown in charts
(see page 70). These charts make it
easy to estimate the attainable speeds.
It should be noted that screw supports
are only used in horizontal applications.

Vertical mounting
In vertical applications, screw supports
cannot be used because of the system
design. So, the permissible linear
speeds and drive torques indicated in
the table without screw supports are
valid for these applications.
Friction torques, mass moments of
inertia and moved masses can be found
in the corresponding tables on the
following pages.
A calculation example that shows the
interplay of all chosen components for
an application example can be found in
the Calculation and Examples section.

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

61

AGK Drive Units

The size of the drive unit can be specified by performing a service life
calculation.
The dynamic load rating given in the
table below is compared with the actual
loads occurring in the application in the
Calculations section.

d0
P
DW
i
a:
b:

= nominal diameter
= lead (R = right)
= ball diameter
= axb
bearing turns per thread
number of bearing threads
on the screw

Size
d0 x P x DW - i

Part number
of ball nut
used

20
20
20
32
32
32
32
40
40
40
40

R1512
R1512
R2522
R1512
R1512
R1512
R1512
R1512
R1512
R1512
R1512

x 5R x 3 - 4
x 20R x 3.5 - 3
x 40R x 3.5 - 1x4
x 5R x 3.5 - 4
x 10R x 3.969 - 5
x 20R x 3.969 - 3
x 32R x 3.969 - 3
x 5R x 3.5 - 5
x 10R x 6 - 4
x 20R x 6 - 3
x 40R x 6 - 3

112
172
120
312
340
370
390
412
440
470
490

AGK load ratings


dyn.
stat.
C (N)
C0 (N)
43
07
01
52
52
52
52
21
12
12
52

14300
13300
8000
21600
26000
19700
19500
29000
29000
29000
29000

21500
18800
14900
40000
47000
33700
34000
64000
64000
64000
62300

62

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Stroke and Length Calculations, AGK


LHmax = maximum stroke
required by customer
LC

= length of ball nut enclosure

LN

= unusable length, resulting


from sealing strip construction, screw supports and
excess travel on the screw

Lref

= LHmax + LC + LN

LAGK = Lref + L2 + B1 + B11

d0
P

= nominal diameter
= lead (right)

AGK size

20
32
40

Ball screw size


dO x P

Length of ball
nut enclosure LC

For AGK length calculation, Dimensions (mm)


of unusable length
LN
LN
LN
without SS*
1xSS (per side)
2xSS (per side)

LN
3xSS (per side)

20 x 5/20/40
32 x 5/10/20/32
40 x 5/10/20/40

204
204
264

166
214
246

531
579
611

* where: SS = screw support

281
329
361

406
454
486

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

63

AGK Drive Units

L2

L20

LC

B1

LHmax/2

LN/2

LHmax/2

Lref

L1

B11

LN/2

L11

Lthr
Lov
LAGK

B1

B11

L1

L2

L11

L20

L31

60
60
65

60
70
80

42
40
45

42
58
73

4
4
4

60
78
93

47
60
68

Example of a stroke and length calculation for AGK 32x20 with two
screw supports:

The required stroke is 1650 mm.

Lref
Lref
Lref

= LHmax + LC + LN
= 1650 mm + 204 mm + 454 mm
= 2308 mm

LAGK = Lref + L2 + B1 + B11


LAGK = 2308 mm + 58 mm + 60 mm + 70 mm
LAGK = 2496 mm

L31

64

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Data and Dimensions, AGK


The mounting dimensions for the drive
unit and the tolerance specifications for
the adjoining structure are given below.
For inquiries, there are corresponding
CAD files available in AutoCAD format.

Lmtg* = Lref + B2 + (B11/2)


Lmtg* = LAGK - L2 - B1 + B2 - (B11/2)
* Lmtg = mounting length

d0
P

=
=

AGK
size

nominal diameter
lead (right)
Ball screw
size
d0 x P

Dimensions (mm)
B1

B2

B3

B4

B11 B12 B13 BM

D1

D22

E1

E2

H1

-0.013 h7

20
32
40

20x5/20/40
32x5/10/20/32
40x5/10/20/40

60
60
65

10 40
10 40
12.5 40

20
20
20

60
70
80

25
30
35

10
75
10
85
10 105

55
68
80

10
16
25

H2

H3

H4 H 5

60
60
80

60 100
60 110
80 135

41
46
56

81
91
111

28 10
28 10
33 10

Screw ends:
Form

H6

31

Double reference edges


81

H6

0.015

86 31
96 67
116 82

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

65

AGK Drive Units

LC
LM

L2
L22

Two funnel-type lube


nipples DIN 3405 AM6
pre-assembled
Thread M6 - 6 deep

B11

N1

B1
L30

D
D22

H1

L3
N2
Lref*
LAGK*
Lmtg**
B12
K

B13

M13

E1

M3

E2

S11

B3 B2
B4

S1 (4x)
S2 (2x)

S4-T4 deep (4x)


* per calculation

** Lmtg = mounting length


Dimensions (mm)
K

L2

L3

L22

L30

LM

M1

M2

M3

M13

0.015

80
90
110

42
58
45

15
18
20

25
35
50

40
40
40

183
183
243

M20

N1

N2

S1

S2

20
8.5
19

10.5 9.7
10.5 9.7
13 11.7

S3

S4

S11

M8
M8
M10

M10 10.5
M10 10.5
M12 13

T3

T4

V1

15
15
20

15 66
15 90
16 100

V2

0.01

72.5 80
72.5 103
90 116

120
120
150

120
120
150

35 12
30 12
37.5 17

50
46
65

Parallelism of custom assembly with


pillow blocks and rail guides:

M2
BM
S3-T3 deep

H4

V2

H 0.01

H3

H
H5
H2

(4x)

KGT-Gre wo hinstellen?

V1
M1

M1
2xM1

II 0.01

M20

M200.01
35
22.5
30

// 0.01

66

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

AGK Drive Units

Technical Data and Dimensions, AGK with Motor Mount,


Coupling and Motor
The dimensions of the drive unit version
with motor mount, coupling and motor
are given below.
For inquiries, there are corresponding
CAD files available in AutoCAD format.
Additional technical data and accessories for the servo drives used can
be found in the following catalogs
RE 82 710 and R310D0 2725.

AGK
size

Ball screw
size
d0 x p

Friction torque at the motor journal MRS (Nm)


without SS
1 pair SS
2 pairs SS

3 pairs SS

20

20x 5
20x20
20x40
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

0.40
0.50
0.60
0.80
0.90
0.90
1.00
1.20
1.50
1.30
1.60

0.50
0.80
1.20
0.90
1.10
1.30
1.60
1.30
1.80
1.80
2.60

32

40

d0
P

=
=

Ball screw
size
d0 x P

Motor type

Rated torque
MKN (Nm)

20

20x5
20x20
20x40
20x5
20x20
20x40
20x5
20x20
20x40
32x5
32x10
32x20
32x32
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

MSM 040B
MSM 040B
MSM 040B
MKD 041B
MKD 041B
MKD 041B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B

19
19
19
19
19
19
19
19
19
50
50
50
50
50
50
50
50
98
98
98
98

40

0.50
0.70
1.00
0.90
1.00
1.10
1.40
1.30
1.70
1.60
2.30

nominal diameter
lead (right)

AGK
size

32

0.40
0.60
0.80
0.80
1.00
1.00
1.20
1.20
1.60
1.50
1.90

Technical data of couplings


Mass moment of inertia
JK (kgm2)10-4
0.57
0.57
0.57
0.57
0.57
0.57
0.57
0.57
0.57
2
2
2
2
2
2
2
2
3.9
3.9
3.9
3.9

Weight
mK (kg)
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.26
0.7
0.7
0.7
0.7
0.7
0.7
0.7
0.7
0.9
0.9
0.9
0.9

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

67

AGK Drive Units


MKD 041B with brake

Part number R3471 010 03

MKD 071B with brake

Part number R3471 011 03

MKD 041B without brake

not standard

MKD 071B without brake

not standard

45

45

HE

D
ES

LE

45

SE1

LE1

LMF

LE1

LE

HE

DE

LMF

SE1

45

MKD 090B with brake

Part number R3471 013 03

MSM 040B with brake

Part number R3471 075 03

MKD 090B without brake

not standard

MSM 040B without brake

Part number R3471 074 03

45

45

45

45

SE

HE

LE1
LMF

LE

HE

D
ES

DE

LE

SE1

LE1
LMF

Technical data of motors


Motor type

MSM 040B
MKD 041B
MKD 071B
MKD 090B

Torque
MMN
rated
(Nm)

Rated speed
MMmax*
nK
maximum
(Nm)
(min-1)

2.4
2.7
8.0
12.0

7.1
11.3
26.2
43.5

Ambient temperature Tamb 0 to +45C;


Protection class IP 65;
Insulation class DIN VDE 0530 Part 1: F

3000
6000
4500
3200

Mass moments of inertia


Motor
JM (kgm2)10-4

Brake holding
torque

Weight

Brake
JBR (kgm2)10-4 MBr (Nm)

0.67
1.7
8.7
43.0

0.08
0.16
0.72
3.6

Motor
mM (kg)

2.45
2.2
5.0
11.0

Brake
mBr (kg)

3.1
4.4
8.8
14.0

0.7
0.25
0.62
1.1

* Dependent on selected controller for further


information, see RE 82 710 and R310D0 2725.

DES
0.2

HE

Motor mount and motor dimensions (mm)


LE
LE
LE1
without brake
with brake

LMF

SE1

70
70
70
95
95
95
130
130
130
130
130
130
130
165
165
165
165
165
165
165
165

80
80
80
82
82
82
115
115
115
115
115
115
115
140
140
140
140
140
140
140
140

157.5
157.5
157.5
-

90
90
90
95
95
95
125
125
125
125
125
125
125
133
133
133
133
133
133
133
133

6
6
6
6.6
6.6
6.6
9
9
9
9
9
9
9
11
11
11
11
11
11
11
11

191.5
191.5
191.5
243
243
243
264
264
264
264
264
264
264
313
313
313
313
313
313
313
313

3
3
3
8
8
8
9.5
9.5
9.5
9.5
9.5
9.5
9.5
14
14
14
14
14
14
14
14

68

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Data and Dimensions, AGK


with Side Drive and Motor
For inquiries, there are corresponding
CAD files available in AutoCAD format.
Additional technical data and accessories for the servo drives used can
be found in the following catalogs
RE 82 710 and R310D0 2725.

d0
P

=
=

nominal diameter
lead (right)

iRV

side drive timing belt reduction


Side drive timing belt dimensions (mm)

AGK size

20

32

40

Ball screw size


d0 x P

Motor

A1

A2

20
20
20
20
20
20
20
20
20
32
32
32
32
32
32
32
32
40
40
40
40
40
40
40
40
40
40
40
40
40
40
40
40

MSM 040B
MSM 040B
MSM 040B
MKD 041B
MKD 041B
MKD 041B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 071B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B
MKD 090B

231
231
231
231
231
231
287
287
287
300
300
300
300
300
300
300
300
349
349
349
349
349
349
349
349
409
409
409
409
409
409
409
409

47.5
47.5
47.5
47.5
47.5
47.5
56
56
56
59
59
59
59
59
59
59
59
63
63
63
63
63
63
63
63
77
77
77
77
77
77
77
77

122
122
122
122
122
122
155
155
155
165
165
165
165
162
162
162
162
212
212
212
212
205
205
205
205
240
240
240
240
238
238
238
238

x5
x 20
x 40
x5
x 20
x 40
x5
x 20
x 40
x5
x 10
x 20
x 32
x5
x 10
x 20
x 32
x5
x 10
x 20
x 40
x5
x 10
x 20
x 40
x5
x 10
x 20
x 40
x5
x 10
x 20
x 40

BRV
88
88
88
88
88
88
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
116
160
160
160
160
160
160
160
160

LRV

Weight
MRV (kg)

51
51
51
51
51
51
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
66
90
90
90
90
90
90
90
90

on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on
on

request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request
request

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

69

BRV corresponds to width


of side drive timing belt.

A2

45

45

SE1

A1

AGK Drive Units

LE1

LE

HE

DE

LRV

Motor type

MSM 040B
MKD 041B
MKD 071B
MKD 090B

Torque
MMN
rated
(Nm)

Rated speed
MMmax*
nK
maximum
(Nm)
(min-1)

2.4
2.7
8.0
12.0

7.1
11.3
26.2
43.5

Mass moments of inertia


Motor
JM (kgm2)10-4

3000
6000
4500
3200

0.67
1.7
8.7
43.0

Ambient temperature Tamb 0 to +45C; Protection class IP 65;


Insulation class DIN VDE 0530 Part 1: F

Brake holding
torque

Brake
JBR (kgm2)10-4 MBr (Nm)
0.08
0.16
0.72
3.6

2.45
2.2
5.0
11.0

Weight
Motor
mM (kg)

Brake
mBr (kg)

3.1
4.4
8.8
14.0

0.7
0.25
0.62
1.1

* Dependent on selected controller for further


information, see RE 82 710 and R310D0 2725.

Motor dimensions (mm)


Side drive timing
belt reduction
iRV
1
1
1
1
1
1
1
1
1
1
1
1
1
2
2
2
2
1
1
1
1
2
2
2
2
1
1
1
1
2
2
2
2

Reduced moment
of inertia
JRV (kgm 2)10-4
2.5
2.5
2.5
2.4
2.4
2.4
14.2
14.2
14.2
14.0
14.0
14.0
14.0
2.6
2.6
2.6
2.60
15.9
15.9
15.9
15.9
2.7
2.7
2.7
2.7
77.8
77.8
77.8
77.8
12.6
12.6
12.6
12.6

Permissible
torque
MRV (Nm)
2.1
3.6
4.1
2.1
3.6
4.1
2.3
4.3
5.0
12
19
19
19
6
11
13
13
26
26
26
26
13
13
13
13
26
52
67
67
13
26
33.5
33.5

Friction
torque
MRRV (Nm)
0.4
0.4
0.4
0.4
0.4
0.4
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.5
0.6
0.6
0.6
0.6
0.6
0.6
0.6
0.6

DES
0.2

HE

70
70
70
95
95
95
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
130
165
165
165
165
165
165
165
165

80
80
80
82
82
82
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
115
140
140
140
140
140
140
140
140

LE

LE

without brake

with brake

157.5
157.5
157.5
-

191.5
191.5
191.5
243
243
243
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
264
313
313
313
313
313
313
313
313

LE1

SE1

3
3
3
8
8
8
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
9.5
14
14
14
14
14
14
14
14

6
6
6
6.6
6.6
6.6
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
11
11
11
11
11
11
11
11

70

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Permissible Speeds for AGK


Permissible speed vperm.

Size 20

vperm. (m/min)

Problem!!!

20

80

160

17.5

70

140

15

60

120

12.5

50

100

10

40

80

7.5

30

60

20

40

2.5

10

20

3 SS

2 SS

1 SS
0 SS

20x40

20x5

20x20

500

1000

1500

2000

2500

Lref (mm)

100

15.63

31.25

62.5

12.5

25

50

80

18.75

37.5

60

9.38

3 SS
6.25

40

25

12.5

2 SS
3.13

6.25 12.5

20

1 SS

32x32

32x10

32x20

0 SS
0

32x5

vperm. (m/min)

Size 32

500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

71

AGK Drive Units

25

50

100

20

40

80

15

30

60

10

20

40

10

20

3 SS
2 SS
1 SS
0 SS

40x20

40x40

vperm. (m/min)

100
12.5

500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Lref (mm)

10.0
80
3 SS
60
7.5

5.0
40

2 SS
1 SS

2.5
20
0 SS
00
40x5

40x10

vperm. (m/min)

Size 40

500

1000

1500

2000

2500

3000

3500

4000

4500

5000

Lref (mm)

72

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

AGK Drive Units

Permissible Drive Torque for AGK


Permissible drive torque Mperm.
The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

Size 20x5
Mperm. (Nm)

5
OF; MF: 3.9 Nm

AGK
1, 2, 3 SS

AGK
0 SS

MKD 071B iRV=1: 2.3 Nm


2

MSM 40B; MKD 041B iRV=1: 2.1 Nm

0
500

1000

1500

2000

2500

Lref (mm)

Mperm. (Nm)

Size 20x20
10

OF; MF: 9.5 Nm

AGK
1, 2, 3 SS
AGK
0 SS

9
8
7
6
5

MKD 071B iRV=1: 4.3 Nm

4
3

MKD 041B / MSM 040B iRV=1: 3.6 Nm

2
1
0
500

1000

1500

2000

2500

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

73

AGK Drive Units

OF

MF

RV

Mperm. (Nm)

Size 20x40

12
10

OF; MF: 9.8 Nm

AGK
1, 2, 3 SS
AGK
0 SS

8
6
4

MKD 071B iRV=1: 5.0 Nm

MSM 40B; MKD 041B iRV=1: 4.1 Nm

2
0
500

1000

1500

2000

2500

Lref (mm)

74

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Permissible Drive Torque for AGK

Size 32x5

Mperm. (Nm)

Permissible drive torque Mperm.


The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

16
OF; MF: 13 Nm
14
12

AGK 3 SS
MKD 071B iRV=1: 12 Nm

AGK 2 SS
AGK 1 SS

10
8
6

AGK 0 SS

4
2
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Size 32x10

Mperm. (Nm)

MKD 071B iRV=2: 6 Nm on the motor journal

Lref (mm)

30
OF; MF: 26 Nm

AGK 3 SS

25

20

MKD 071B iRV=1: 19 Nm

AGK 2 SS
AGK 1 SS

15

10

AGK 0 SS

0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

MKD 071B iRV=2: 11 Nm on the motor journal

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

75

AGK Drive Units

Size 32x20

MF

Mperm. (Nm)

OF

40

RV

OF; MF: 37 Nm

AGK 2, 3 SS
AGK 1 SS

35
30
25
20

MKD 071B iRV=1: 19 Nm

AGK 0 SS

15
10
5
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Size 32x32

Mperm. (Nm)

MKD 071B iRV=2: 13 Nm on the motor journal

40

OF; MF: 37 Nm

35
30

Lref (mm)

AGK
1, 2, 3 SS

AGK
0 SS

25
20

MKD 071B iRV=1: 19 Nm

15
10
5
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

MKD 071B iRV=2: 13 Nm on the motor journal

Lref (mm)

76

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Permissible Drive Torque for AGK

Size 40x5

Mperm. (Nm)

Permissible drive torque Mperm.


The torque must be read off from the
curve for the specific drive type OF,
MF or RV (side drive timing belt).

30

OF; MF; MKD 071B / MKD 090B iRV=1: 26.0 Nm


25

AGK
2, 3 SS
AGK
1 SS

20

15

AGK
0 SS
10
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Lref (mm)

Size 40x10

Mperm. (Nm)

MKD 071B / MKD 090B iRV=2: 13.0 Nm on the motor journal

60
OF; MF; MKD 090B iRV=1: 52.0 Nm
50

40

30

AGK 3 SS

MKD 071B iRV=1: 26.0 Nm

AGK 2 SS
20

AGK 1 SS

10

AGK 0 SS

0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

MKD 090B iRV=2: 26.0 Nm on the motor journal


MKD 071B iRV=2: 13.0 Nm on the motor journal

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

77

AGK Drive Units

Size 40x20

MF

Mperm. (Nm)

OF

RV

120
OF; MF: 103 Nm
100

80
MKD 090B iRV=1: 67 Nm

AGK 3 SS

60

40
MKD 071B iRV=1: 26 Nm
20

AGK 2 SS
AGK 1 SS
AGK 0 SS

0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Size 40x40

Mperm. (Nm)

MKD 071B iRV=2: 13.0 Nm on the motor journal


MKD 090B iRV=2: 33.5 Nm on the motor journal

Lref (mm)

160
OF; MF: 142 Nm
140

AGK 3 SS

120
100

AGK 2 SS
80

MKD 090B iRV=1: 67 Nm

AGK 1 SS

60
40

MKD 071B iRV=1: 26 Nm

AGK 0 SS

20
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

MKD 071B iRV=2: 13.0 Nm on the motor journal


MKD 090B iRV=2: 33.5 Nm on the motor journal

Lref (mm)

78

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units


Bosch Rexroth Corporation
Linear Motion and Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28276

AGK
Inquiries and Orders:
Example:
AGK40 40x20

MKD071B
with brake

RV01 X
X

iRV=2 X

SEC-F X

Tel:

(704) 583-4338 or
(800) 564-6524
(704) 583-0523

Fax:
Email: techdesk.chr@boschrexroth-us.com

MA01 X

Steel coverplate
X

1 SS X

SEC-L X

For inquiries/orders: Please check the appropriate boxes below and enter the length in at least one of the fields provided.
AGK
size

Ball screw
size
d0 x P (right)

20

20x5

Motor
without / with
brake

Drive type
Type
Gear
reduction

Fixed
bearing

Ball nut
enclosure

Coverplate

Screw
support

Floating
bearing

MSM040B
OB
MB

OF

SEC-F X

MA01

Steel

0 SS

SEC-L X

MA02

Polyurethane

1 SS

20x20
20x40

32

32x5

MF
MKD041B
MB
MKD071B
MB

RV02
RV03
RV04

MKD071B
MB

OF

32x10
32x20

40x5

MKD071B
MB

40x10
40x20

iRV=1

MA03

RV01
RV02
RV03
RV04

SEC-F X

iRV=1
iRV=2

40x40

Switches:
Max. 3 switches and 1 socket selectable

RV01
RV02
RV03
RV04

iRV=1
iRV=2

OF

MA01
Steel
(LMax= 3.8 m)
MA02

0 SS

MA03

2 SS

0 SS

MA03

2 SS

Reed sensor with


2m cable

MA01 (left)

MA02 (top)
RV01

RV03

10m cable

Hall sensor PNP NC with


2m cable
10m cable
Reed sensor with
2m cable

10m cable

Hall sensor PNP NC with


2m cable
10m cable
Socket

MA03 (right)
RV02

RV04

Polyurethane

1 SS

3 SS

10m cable

Hall sensor PNP NC with


2m cable
10m cable

1 SS

MA01
Steel
(LMax= 3.8 m)
MA02

MF
Reed sensor with
2m cable

Polyurethane

SEC-L X

3 SS
SEC-F X

OF
MF

MKD090B
MB

2 SS
3 SS

MF
MKD090B
MB

32x32
40

RV01

SEC-L X

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

79

AGK Drive Units


Length (mm) to be
specified by customer

LAGK

L ref

Ball screw drive example

AGK

LHmax

Lthr

Lov

40 x 20R x 6-3 1 3 T5 R 82K203 31K200 Lov

Ball nut enclosure with cylindrical single nut

Size

Nominal diameter mm)


Lead (mm)
Direction of lead R right
Ball diameter (mm)
Number of ball track turns in the nut

Seal system

0 none
1 standard seal

Preload

0 standard backlash
1 reduced backlash
3 2% (single nut) standard

Precision

T5
P3

Screw

R precision-rolled

Left screw end

T7
P5

T9

precision-rolled screw
precision screw
F ... precision

Form
Option

K none

Version
Right screw end

see left screw end

Overall length Lov (mm) of the ball screw drive


Documentation
rechtes Spindelende

0 standard (acceptance test report)


is always supplied

2 torque test report


3 lead and torque test report

1 lead test report


Lubrication

0 preserved

1 preserved and nut with basic greasing

Sender
Company

Name

Address

Department
Telephone
Fax
e-mail

0 1

80

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Notes
on the Ball Screws used
DIN 69 051, Part 1 defines a
ball screw as follows:
An assembly comprising a ball screw
shaft and a ball nut and which is capable of converting rotary motion into
linear motion and vice versa. The rolling
elements of the assembly are balls.

Selection criteria for ball screws


The following factors should be
considered when selecting the ball
screw for a given application:
degree of accuracy required
(lead deviation)
in-service load conditions
service life
critical speed
buckling load
rigidity/permissible clearance
or desired preload
characteristic speed (max.
permissible linear speed)
The following points should be taken
into consideration when selecting a ball
screw assembly that is to be both costefficient and optimally designed:
The lead is a decisive factor for the
load-carrying capacity (depending on
the maximum possible ball diameter)
and the drive torque.
The calculation of the service life
should be based on average loads
and average speeds, not on maximum values.
In order for us to provide you with
a customized solution, installation
drawings or sketches of the nut
environment should be enclosed
with your inquiry.

Safety information
We recommend that a safety nut
be installed for particularly critical
applications in vertical set-ups.
Please ask.

Load-carrying capacities and


service life
We calculate load-carrying capacities
and service life in accordance with
DIN 69 051, Part 4 and ISO 3408-4
(P5).

Note:

Basic static load rating C0

Radial and eccentric forces relative to


the screw must be avoided as they have
a negative effect on the life and proper
function of the ball screw. Where special conditions of operation are involved,
please ask.

The static load rating is an axial, concentrically acting force that induces a
permanent deformation of 0.0001 x the
ball diameter between the ball and the
ball raceway.

Basic dynamic load rating C


Run-outs and location
deviations
Based on DIN 69 051, Part 3 and
ISO 3408-3

The dynamic load rating is an axial,


concentrically acting force of constant
magnitude and direction under which
90% of a sufficiently large amount of
identical ball screws can achieve a
nominal service life of one million
revolutions.

Service life
The nominal life is expressed by the
number of revolutions (or number of
operating hours at constant speed)
that will be attained or exceeded by
90% of a representative sample of
identical ball screws before the first
signs of material fatigue become
evident. The nominal life is designated
as L or Lh, depending on whether it is
specified in revolutions or hours.

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

81

AGK Drive Units

Critical speed and buckling


load
The critical speed and buckling load of
the classic ball screw drive is specified on the page featuring the relevant
product.

Characteristic speed d0 n of
the nut
Rexroth ball screws can be operated at
very high speeds due to their internal
ball recirculation system. Characteristic
speeds of up to 150 000 are possible
depending on the nut type.
d0 . n 150 000
= nominal diameter (mm)
d0
n
= speed (min-1)
The theoretically possible maximum
linear speed vmax (m/min) is specified
on the page featuring the relevant
product.

Sealing

Material, hardness

Ball screws are precision assemblies


that require protection against contamination. Flat protective covers and
bellows type dust boots are
particularly suitable for this purpose.
With its enclosed design and integral
sealing strip, the drive unit AGK offers
sufficient protection for many
applications. In addition, we have
developed a gapless lip-type seal
which ensures an optimal sealing
effect and maintains high efficiency
due to the low friction level. Our ball
screws are therefore supplied with
seals in their standard versions. At the
customers request, these seals can
be omitted or special seals used in
their place. A reinforced version of the
standard seal has been developed for
those applications where heavy
contamination of the screw ap-pears
inevitable. The sealing effect has been
improved further by increasing the
preload. What must be borne in mind
is the significantly higher friction
torque in comparison with the
standard friction torque (see page 94)
and the associated increased heat
build-up. The reinforced seal can be
easily recognized externally by its dark
green color.

Our standard ball screw assemblies


are made of high-quality, heat-treatable
steel, carbon chrome alloy steels or
case-hardened steels. The screw and
nut raceways have a minimum
Rockwell hardness of HRC 60.
Normally, the screw ends remain
unhardened.

Permissible operating
temperatures
Ball screws are suitable for continuous
operation at temperatures up to 80C
with temporary peaks of 100C (measurements taken on the outer shell of
the nut).

Short stroke limit (load rating reduced by less than 10%)

Short stroke

400

Stroke (travel) [mm]

During a short stroke, the ball does not


make a real turn. It is therefore impossible for an adequate lubricating film
to form. This may result in premature
wear. In the chart, the minimum required stroke (travel) for a 10% lower load
rating is shown as a function of the
number of turns and lead of the nut.
Hence the most favorable range lies
above each curve. It may help to have
occasional longer strokes, which are
performed with simultaneous relubrication as lubricating strokes. If in
doubt, please ask.

40

350

Lead
300

25

32

20

16

250
12

200

10
150
100

50

2.5

0
1

Number of ball track turns in the nut i

82

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Notes
Acceptance Conditions and Tolerance Grades
P

Ball screw with precision screw SN-F (SN-R)


l1

Many values are significantly more accurate than those defined in DIN 69 051,
Part 3 and ISO 3408-3.

le

lu

l0

300

ep

ep

2 p

up

300p

l0

le

(Standard: c = 0)

in accordance with DIN 69 051, Part 3


and ISO 3408-3

Standard: c = 0

Permissible travel deviation

up

2rad

lu
>
0
100
200
315
400
500
630
800
1000
1250
1600
2000
2500
3150
4000
5000

100
200
315
400
500
630
800
1000
1250
1600
2000
2500
3150
4000
5000
6300

3
8
10
12
13
15
16
18
21
24
29
35
41
50
62
76
-

ep (m)
Tolerance grade
5
7
18
44
20
48
23
52
25
57
27
63
30
70
35
80
40
46
54
65
77
93
115
140
170

P
9
110
130
150
170
200
220
260

3
8
10
12
12
13
14
16
17
19
22
25
29
34
41
49
-

up (m)
Tolerance grade
5
18
20
23
25
26
29
31
35
39
44
51
59
69
82
99
119

For precision screws SN-F and SN-R the following values apply in all cases:

3
12

300p (m)
Tolerance grade
5
7
23
52

2p (m)
Tolerance grade
9
130

3
6

5
8

7
10

9
10

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

83

AGK Drive Units

ep

up

300p =
2p =

Ball screw with precision-rolled screw SN-R


l1
le

l0
le

lu

300

ep

nominal travel
thread length
travel deviation
useful travel
excess travel (the closer
tolerances for travel and
hardness do not apply here)
travel compensation for useful
travel, defined by user
(standard: c = 0)
tolerance for actual mean travel
deviation
permissible travel variation
within useful travel lu
permissible travel deviation
within 300 mm travel
permissible travel deviation
within 1 revolution

=
=
=
=
=

l0

l0
l1
l0
lu
le

300p

Symbol definitions:
(excerpt)

c=0

= permissible
= actual

Improved values
compared with DIN 69 051, Part 3 and
ISO 3408-3 (tolerance reduced by half).

ep

Subindices:

ep (m)
Tolerance grade

T
1

For ep values < 315 mm, see catalog


R310A 3301, table on page 100.

Minimum number of measurements


within 300 mm (measuring interval)
and permissible excess travel.

e p

lu

300 300p

Lead
P
5
10
16
20
25
32
40

3
10
5
5
5
4
3
2

Minimum number of measurements


for tolerance grades
5
7
6
3
3
1
3
1
3
1
3
1
2
1
1
1

9
3
1
1
1
1
1
1

Excess travel
lemax
(mm)
20
40
50
60
70
80
100

84

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Notes
Preload and Rigidity
Nut system preload

Axial movement (deflection)

In addition to single nuts with reduced


backlash, Rexroth supplies nut systems
preloaded by means of optimized ball
size selection.

Preloaded single nut in the AOK and


AGK models

Driven nut in the FAR and MHS


models

In the AOK model single nuts can be


preloaded to 2%, 3% or 5% of the
basic dynamic load rating by means of
optimized ball size selection. In the
AGK model, the single nut can be preloaded to 2%.

Like any single nut, the driven nut can


be preloaded to 2% or 5% of the basic
dynamic load rating by means of ball
size selection.

Overall axial rigidity Rtot of a single


ball screw

Rtot = overall rigidity


Ral = rigidity of the axial bearing of
the screw (not applicable for
a driven nut)
RS = rigidity of the screw
RG = rigidity of the ball nut enclosure
for a driven screw; rigidity of the
nut and bearing in a driven nut
Rnu = rigidity of the nut without
attachments
d0 = nominal diameter
P = lead
DW = ball diameter
i
= number of ball track turns

Single nut
with backlash

Preloaded
and adjustablepreload nut systems
Axial load

Rigidity of drive units


The rigidity of a drive unit is influenced
by all adjoining parts such as bearings,
housing bores, ball nut enclosures etc.
The tables opposite show pre-calculated values. In addition, the rigidity of the
screw must be taken into account.

The overall axial rigidity Rtot is comprised


of the component rigidity of the bearing
RaL, the screw Rs and the nut Rnu.

1
1
Rtot R aL

1
Rs

1
RG

Please note that in most cases the


rigidity RS of the screw will be significantly lower than the rigidity RG of
the nut unit.
Rigidity in the area of the nut unit RG
The rigidity in the area of the preloaded nut unit is calculated according
to DIN 69 051 (P5). In drive units, RG
includes the additional rigidity of the
ball screw enclosure in versions with
a driven screw, and of the nut bearing
in versions with a driven nut.
See the corresponding tables for
rigidity values.

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

85

AGK Drive Units

Rigidities for FAR


Size
d 0 x P x DW - i
32x10Rx3.969-5
32x20Rx3.969-3
32x32Rx3.969-3
40x10Rx6-5
40x20Rx6-3
40x40Rx6-3
50x10Rx6-6
50x20Rx6.5-5
50x40Rx6.5-3
63x10Rx6-3
63x20Rx6.5-5
63x40Rx6.5-3

Rigidity of
the screw
RS
(Nm/m)

Rigidity of the nut


Preload 5%
Rnu
(N/m)

Rigidity of the
bearing
RaL
(N/m)

Overall rigidity
Preload 5%
RG
(N/m)

Rigidity of the nut


Preload 2%
Rnu
(N/m)

Overall rigidity
Preload 2%
RG
(N/m)

141
141
141
211
211
211
345
345
340
569
563
563

670
410
400
849
510
490
1180
1050
610
1380
1250
770

860
860
860
950
950
950
1050
1050
1050
1150
1150
1150

377
278
273
448
332
323
556
525
386
627
599
461

500
300
300
630
380
370
890
780
450
1050
930
570

316
222
222
379
271
266
482
448
315
549
514
381

Rigidities for MHS


Size
d0 x P x DW - i

40x5Rx3.5-5
40x10Rx6-5
40x12Rx6-4
40x16Rx6-4
40x20Rx6-3
40x40Rx6-3

Rigidity of
the screw
RS

Rigidity of
the bearing
RaL

Rigidity of the nut


Preload 5%
Rnu

Overall rigidity
Preload 5%
RG Tensile /
Compressive
(N/m)

Rigidity of the nut


Preload 2%
Rnu

(N/m)

Rigidity of the
motor shaft
Tensile /
Compressive
(N/m)

(N/m)

Overall rigidity
Preload 2%
RG Tensile /
Compressive
(N/m)

(Nm/m)

(N/m)

232
211
211
211
211
211

1300
1300
1300
1300
1300
1300

720
849
680
680
510
490

2577
2577
2577
2577
2577
2577

392.75
428.24
380.54
380.54
320.71
312.69

550
630
510
510
380
370

336.08
364.35
320.71
320.71
263.93
259.07

/
/
/
/
/
/

3975
3975
3975
3975
3975
3975

/
/
/
/
/
/

414.99
454.83
401.38
401.38
335.39
326.62

Rigidities for AOK and AGK


AOK
Preload 3%
max.
RG
(N/m)

AOK
Preload 5%

RS
(Nm/m)

AOK
Preload 2%
the screw
RG
(N/m)

RG
(N/m)

AGK
Preload 2%
max.
RG
(N/m)

53
52
52
144
141
141
141
232
211
211
211

205
165
145
300
370
248
248
430
400
320
312

229
179
326
410
276
276
473
444
354
347

258
211
372
459
320
314
529
502
406
394

63
59
56
51
53
49
49
139
136
125
124

Size

Rigidity of

d0 x P
20x5
20x20
20x40
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

/
/
/
/
/
/

352.24
383.42
335.39
335.39
273.79
268.56

86

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

AGK Drive Units

Technical Notes
Seals
Please bear in mind the
following when modifying
and retrofitting the seals:

Inserting the seal


Fig. 1
Single seal

Position the nut on the screw as illustrated in the diagram. Insert the seal so
that its projection is in the recess and
press it in until it snaps into the groove.
While turning the nut on the screw,
watch the sealing lip carefully and
straighten it if necessary by applying
pressure to the exposed face. Ensure
that the lip is not damaged.

All precision screws SN-F and the


precision-rolled screws SN-R with
small leads are designed as single
(Fig. 1). There is therefore only one ball
track on the screw.
However, precision-rolled screws SN-R
with higher leads are designed as
double or quadruple (Figs. 2 and 3).
The sealing geometry here is therefore
different from that for the precision
screws SN-F. The distinction is made
clear by the part number on the component.

Fig. 2
Seal for double precisionrolled screw SN-R with
average lead

Detailed mounting instructions are


delivered along with the parts.

Special seals for precision-rolled


screws SN-R are available as an
option.
Reinforced seals are identified by their
opal-green color and their part number.
Low-friction seals for precision-rolled
screws SN-R are available upon request. This version is currently in preparation. The seals are identified by their
red-brown color and their part number.

Fig. 3
Seal for quadruple precisionrolled screw SN-R with high
lead
5 - 10 mm

Seal torque for single nuts


The dynamic drag torque of seals has
already been taken into account in the
drive units. Reinforced seals will increase this torque.
TRD
d0
P
DW
i

=
=
=
=
=

dynamic drag torque of 2 seals


nominal diameter
lead
ball diameter
number of ball track turns

Size
do x P x DW - i

TRD
approx. (Nm)
Standard
seal

20 x 5R x 3
20 x 20R x 3.5
20 x 40R x 3.5
32 x 5R x 3.5
32 x 10R x 3.969
32 x 20R x 3.969
32 x 32R x 3.969
40 x 5R x 3.5
40 x 10R x 6
40 x 16R x 6
40 x 20R x 6
40 x 40R x 6
50 x 10R x 6
50 x 20R x 6.5
50 x 40R x 6.5
63 x 10R x 6
63 x 20R x 6.5
63 x 40R x 6.5

0.100
0.120
0.040
0.250
0.250
0.250
0.250
0.400
0.400
0.400
0.400
0.400
0.600
0.600
0.700
1.200
1.200
1.200

Dynamic drag torque of


2 seals
TRD
approx. (Nm)
Reinforced seal:
for precision-rolled
screw SN-R only
0.51
0.46
0.49
0.45
0.85
0.91
0.54
0.95
1.0
1.4

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

87

AGK Drive Units

Assembly
Mounting instructions are available for
all Drive Units

R310D4 3372 (2005.07)

Anleitung frforAntriebseinheit
AGK
Instructions
Drive Unit AGK

Instructions
for
Anleitung Hohlwellenmotor

Hollow-Shaft Motor MHS

MHS

R310DE 3371
R310EN
3371(2004.06)
(2004.06)

The Drive & Control Company

The Drive & Control Company

Montage Inbetriebnahme
Mounting
Start-up
Montage Mise en service
Montaggio Messa in funzione

Alignment of the precision


ball screw assembly in the
machine
A gauge with a self-aligning contact
pad is available from Rexroth for easy
alignment of the ball screw assembly.
The contact pad comes in two different
lengths, to cater for different leads.
Part number R3305 13119,
length 33 mm for leads < 20
Part number R3305 131 21,
length 50 mm for leads > 20
These pads are supplied without the
gauge.

Wartung
Maintenance
Entretien
Manutenzione

Montage Inbetriebnahme
Mounting
Start-up
Montage Mise en service
Montaggio Messa in funzione

Wartung
Maintenance
Entretien
Manutenzione

88

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Drive Units

AGK Drive Units

Technical Notes
Lubrication
Standard lubrication practices for ball
bearings also apply to ball screws.
Lubricant loss is, however, greater than
that from conventional ball bearings,
for instance, due to the axial motion
between the screw and the nut.

Oil lubrication for AOK/AGK


only (not for FAR and MHS)
The influence of the temperature on the
performance of the ball screw is very
significant, as the thermal expansion of
the ball screw interferes with the positioning accuracy of the assembly.
One of the advantages of oil lubrication
over grease lubrication is therefore the
minimized heat build-up of the ball
screw, particularly at high speeds.
As a rule, commercially available
mineral base oils used for ball bearings
are suitable. The necessary viscosity
depends on the speed, temperature
and load conditions of the respective
application (see DIN 51501, 51517,
51519 and GfT Worksheet 3).
Oils ranging from ISO VG 68 to approx.
ISO VG 460 are used in practice. The
high viscosity grades (e.g. ISO VG 460)
should be preferred in general and
particularly for slow running screws.
A maximum relubrication interval of up to
10 operating hours can be attained with
small quantities from the adjacent table.
Please ask for details for driven nuts!

Relubrication quantity and intervals for oil


do

Initial lubrication oil


Ve(ml)

Relubrication Revooil
lutions
Vn (ml)/10h
(mill.)

Travel (km) with lead P =


5

10

16

20

25

32

40

20
32
40
50
63

0.600
0.600
2.000
4.000
4.000

0.060
0.060
0.400
0.800
0.800

5
5
5
5
5

10
10
10
10
10

16
16
16
16
16

20
20
20
20
20

25
25
25
25
25

32
32
32
32
32

40
40
40
40
40

1.0
1.0
1.0
1.0
1.0

d0 = nominal diameter

Relubrication intervals for NLGI 2 greases


d0

Revolutions
Relubrication quantity, see (mill.)
table for NLGI 2 greases.
40
50
> 40
10

All commercially available high-quality


ball bearing lubricating greases may
be used. Read the lubricant manufacturers specifications carefully! Never
use greases with solid lubricant components (e.g. graphite or MoS2).
For relubrication, grease cartridges
containing Dynalub 510 and 520 are
available from Rexroth.

5
10
250 500
50 100

16
20
25
32
40
800 1000 1250 1600 2000
160 200 250 320 400

d0 = nominal diameter

Limit conditions:
Load
nmin
Tempmax. nut
Tempcontinuous nut

= 0.2 C
= 100 min-1
= 80C
= 60C

For NLGI 2 greases:


Use double the amount of the
relubrication quantity for initial
lubrication. The nut has to be
lubricated with lubricant via the
lube port before the ball screw
is started.

Grease lubrication
The advantage of grease lubrication
is that the ball screw can run long distances on one supply of grease. As
a result, a lubricating system is not
required in many cases. The amount
of grease used should fill the nuts to
approximately half of their capacity.

Travel (km) with lead P =

Greases in accordance with DIN


51825 K2K and, for higher loads, KP2K
of NLGI Class 2 in accordance with
DIN 51818 are recommended for the
longest possible lubrication intervals.
Tests have shown that greases of NLGI
Class 00 achieve only about 50% of
the running performance of Class 2 at
higher loads. The lubrication interval
depends on many factors such as the
degree of contamination, operating
temperature, load, etc. The following
values can thus serve only as a guide.

Orientation:
Operating mode:

Sealing:

any
driven screw
no short stroking
or hypercritical
operation
standard

Dynalub 510

Dynalub 510 is a NLGI Category 2 lithiumbased high-performance grease specially


developed for linear motion systems. It is
notable for offering excellent water resistance and protection against corrosion,
and is suitable for use at temperatures of
between 20C and +80C.

Applications
Under conventional environmental conditions this ground-fiber, homogeneous
grease is ideally suitable for the lubrication of linear elements:
for loads of up to 0.5 Cdyn
also for short-stroke applications
1 [mm]

Dynalub 520

Dynalub 520 is a NLGI Class 00 lithiumbased high-performance grease specially


developed for linear motion systems. It is
notable for offering excellent water resistance and protection against corrosion,
and is suitable for use at temperatures of
between 20C and +80C.

Applications
Under conventional environmental conditions this ground-fiber, homogeneous
grease is ideally suited for the lubrication
of miniature linear elements and for use in
centralized dispensing systems.

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

89

AGK Drive Units

Relubrication quantities AOK / AGK /


MHS for NGLI 2 greases

Relubrication quantity of grease (g) single nut


Size
d 0 x P x DW - i

Precision screw
SN-R

SN-F

20 x 5R x 3 - 4
20 x 5R x 3 - 5
20 x 20R x 3.5 - 2
20 x 20R x 3.5 - 3
32 x 5R x 3.5 - 4
32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 2
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 2
32 x 32R x 3.969 - 3
40 x 5R x 3.5 - 5
40 x 10R x 6 - 4
40 x 10R x 6 - 6
40 x 12R x 6 - 4
40 x 16R x 6 - 4
40 x 20R x 6 - 3
40 x 40R x 6 - 3
50 x 10R x 6 - 6
50 x 20R x 6.5 - 5
50 x 40R x 6.5 - 3
63 x 10R x 6 - 6
63 x 20R x 6.5 - 5
63 x 40R x 6.5 - 3

0.9
1.0
1.7
2.2
2.0
2.8
2.5
3.2
3.7
4.9
2.7
6.0
7.3
6.1
8.3
7.8
12.9
9.7
15.6
18.6
11.0
19.2
22.9

0.9
1.0
1.3
1.6
2.0
2.8
2.2
2.8
2.8
3.7
2.7
6.0
7.3
6.1
6.9
6.8
10.1
9.7
13.1
14.1
11.0
16.0
17.3

Relubrication quantities for driven


nut FAR for NGLI 2 greases
The driven nut can be relubricated with
grease via the outer race of the angular
contact thrust ball bearing. The nut can
be at any position along the screw. The
only precaution required is to make
sure that the nut is at a standstill when
applying the lubricant. This effectively
solves the problem of a rotating lube
port on the nut itself.
Two lube ports (M6) with radial or axial
access points are provided. These ports
are closed by set screws for shipment.
The selected lube port can be opened
simply by removing the set screw.

Lubrication of the end


bearings
For regreasing, the quantities stated in
the table below can be applied via the
lube ports provided on the bearings.
As a rule, the initial grease quantity will
therefore last for the entire service life
of a ball screw assembly.

Relubrication quantity of grease (g)


Size
d 0 x P x DW - i

FAR
Precision screw
SN-R

SN-F

32 x 10R x 3.969 - 5
32 x 20R x 3.969 - 3
32 x 32R x 3.969 - 3
40 x 10R x 6 - 5
40 x 20R x 6 - 3
40 x 40R x 6 - 3
50 x 10R x 6 - 6
50 x 20R x 6.5 - 5
50 x 40R x 6.5 - 3
63 x 10R x 6 - 6
63 x 20R x 6.5 - 5
63 x 40R x 6.5 - 3

3.2
3.7
5.6
7.7
9.0
14.8
11.2
17.9
21.4
12.7
22.1
26.4

3.2
3.2
4.3
7.7
7.8
11.6
11.2
15.1
16.2
12.7
18.4
19.9

90

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Service Life Calculation for Drive Units


Average speed and
average load

where the speed fluctuates, the


average speed nm is calculated
as follows

Where the speed and load fluctuate,


the service life must be calculated using
the averages Fm and nm .

q
q1
n+ 2 n
100 1 100 2

nm

where the load fluctuates and the


speed is constant, the average
load Fm is calculated as follows

Fm

where both the load and the speed


fluctuate, the average load Fm is
calculated as follows

Fm

3 q1
1 100

3
1

qn
n
100 n

3 q2
F 2 100

3 qn
Fn 100

3 n2 q 2
n 1 q1
nm 100 F2 n m 100

3
n

nm = average speed
q = discrete time step

(min-1)
(%)

Fm = average load
q = discrete time step

(N)
(%)

Fm = average load
(N)
q = discrete time step (%)
nm = average speed (min-1)

nn q n
n m 100

Service life in revolutions L

C
Fm

106

Nominal life
Service life in hours Lh

Lh

L
nm 60

Machine service life = Lh

Fm

L
5 Fm
10 6

C
L
106

L = service life
(revolutions)
Fm = average
load
(N)
C = dynamic
load rating (N)

Lh = service life
L = service life
nm = average speed

(h)
(revolutions)
(min-1)

Machine operating hours


Screw operating hours

Drive torque and drive power


Drive torque Mta

Mta

FP
2000

Mta
F
P

=
=
=
=

drive torque
operating load
lead
efficiency

(Nm)
(N)
(mm)
(approx. 0.9)

The dynamic drag torque must be taken into account for preloaded nuts.
Drive power Pa

Pa

Mta n
9550

Pa
Mta
n

= drive power
= drive torque
= speed

(kW)
(Nm)
(min-1)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

Bosch Rexroth Corporation


Linear Motion and Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28276

Drive Units, Calculation and Examples

Tel:

(704) 583-4338 or
(800) 564-6524
To: Precision Ball Screw Assemblies
Fax: (704) 583-0523
Department
Email: techdesk.chr@boschrexroth-us.com

Alternatively, technical design calculation can be performed by the customer with our WINKGT software.

Design Calculation Service Form


Application:

New design

Revised design

Operating conditions
Loads (N)

Speeds (min-1)

Discreet time steps (%)

F1

at n1

for q1

F2

at n2

for q2

F3

at n3

for q3

F4

at n4

for q4

F5

at n5

for q5

F6

at n6

for q6

Average load

Average speed

Sum of time steps

Fm

Maximum static load:

100%

x 106 ball screw revolutions

operating hours or

Screw end fixity


fixed

Required service life

horizontal
floating

floating

vertical

free

Selected:
Installation conditions: enclose drawings/sketches if possible!
fixed
I

fixed
II

floating
III

fixed
IV

Drawing enclosed
Type of lubrication:
Operating temperature:

C -

min/max. /

Exceptional operating conditions:

Sender

OEM

91

User

Distributor

Company

Name

Address

Department
Telephone
Fax
e-mail

92

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Rough Dimensioning of the FAR Drive


Rough dimensioning of the
FAR drive

The following calculation formulas


assist in determining the drive motor for
the FAR drive unit. Accurate layout
infor-mation is essential, as the motor
choice is dependent on the mounting

Friction torque
for motor attachment via side drive with
timing belt

MR
MRS

MR =

iRV

+ MRRV

MRS

MRS = MRL + Tpr0 + TRD

MRRV
iRV
MRL
Tpr0
TRD

Mass moment of inertia

position, the applied loads and the


guides used. For an exact calculation
of the drive motors, see RE 82 710
and R310D0 2725.

JS =
JrotFAR + (mFAR-B-R+mfr)

Jfr =

Jtot

JS
iRV

P
20

Jfr

10-4

+ JRV + JBr

= Jfr + JM =

JS
i2

= friction torque at the


motor journal
(Nm)
= friction torque of the
system
(Nm)
= friction torque, side drive timing
belt on motor journal
(Nm)
= reduction, side drive timing belt
= friction torque, bearing
(Nm)
= dynamic drag torque,
ball screw without seals
(Nm)
= dynamic drag torque of
the two seals
(Nm)

+ JRV + JM + JBr

= mass moment of inertia


of load
(kgm2)
= mass moment of inertia
JM
of motor
(kgm2)
JrotFAR= rotating mass moment
of inertia of FAR
(kgm2)
(kg)
mFAR = weight of FAR
mfr = external load
(kg)
Jtot = total mass moment of
inertia
(kgm2)
JS
= mass moment of inertia of system
with additional load
(kgm2)
JBr = mass moment of inertia,
motor brake
(kgm2)
= mass moment of inertia
JM
of motor
(kgm2)
JRv = reduced mass moment of
inertia, side drive timing
belt on motor journal
(kgm2)
iRv
= gear reduction

mFAR-B-R = mFAR-B-S + mRV + mM + mBr P


= lead
mRv = weight of side drive
timing belt
mM = weight of motor
mBr = weight of brake
mFAR-B-S = weight of drive unit
mFAR-B-R = weight of drive unit with
side drive timing belt
and brake

= 3.1416

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

for handling:
for machining:

6 JM

Jfr

1.5 JM

Jfr
Jfr

JM

= mass moment of inertia


of load
= mass moment of inertia
of motor

(mm)
(kg)
(kg)
(kg)
(kg)

(kg)

(kgm2)
(kgm2)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

93

Drive Units, Calculation and Examples

Rotary speed
If a gear motor is fitted, the moment
of inertia of the gears and the gear
transmission ratio must be taken into
account.

n1 < nmax
n1 =

n2 =

i v 1000
P
v 1000
P

n1
i

v
= linear speed
(m/min)
n1 = rotary speed (motor) (min-1)
nmax = maximum effective
rotary speed of motor (min-1)
P
= screw lead
(mm)
i
= gear reduction
n2

= rotary speed of
ball screw

(min-1)

94

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Rough Dimensioning of the MHS Drive


Rough dimensioning of the
MHS drive

The following calculation formulas


assist in determining the drive motor for
the MHS. Accurate layout information is

essential as the motor choice is dependent on the mounting position, the


applied loads and the guides used.

Friction torque
MRS = MRL + Tpr0 + TRD

MRL = friction torque, bearing

(Nm)

Tpr0 = dynamic drag torque,


ball screw without seals

(Nm)

TRD = dynamic drag torque of


the two seals

(Nm)

Mass moment of inertia


JS =
JMHS+(mMHS+mBr+ mfr)

P
20

-4

Jfr = JS + JBr
Jtot = JM + Jfr

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

for handling:
for machining:

6 JM

Jfr

1.5 JM

Jfr
Jfr

= mass moment of inertia


of load
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)
(kg)
mfr = external load
Jtot = total mass moment of
inertia
(kgm2)
JS = mass moment of inertia
of system with additional
load
(kgm2)
P
= screw lead
(mm)
mMHS = weight of drive unit with
motor and ball screw nut (kg)
mBr = weight of brake
(kg)
JMHS = mass moment of inertia,
drive unit with motor
and ball screw nut
(kgm2)
JBr = mass moment of
inertia, brake
(kgm2)

= 3.1416
Jfr

) 10

JM

= mass moment of inertia


of load
= mass moment of inertia
of motor

(kgm2)
(kgm2)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

95

Drive Units, Calculation and Examples

Rotary speed
n1 =

v 1000

= linear speed

n1

= rotary speed (motor)

n1 < nmax
n2 = n1

nmax = maximum effective


rotary speed of motor

(m/min)
(min-1)
(min-1)

= screw lead

(mm)

n2

= rotary speed (ball screw) (min-1)

96

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Rough Dimensioning of the AOK Drive


Rough dimensioning of the
AOK drive

The following calculation formulas


assist in determining the drive motor for
the FAR drive unit. Accurate layout
infor-mation is essential, as the motor
choice is dependent on the mounting

position, the applied loads and the


guides used. For an exact calculation
of the drive motors, see RE 82 710
and R310D0 2725.

Friction torque
for motor attachment via motor mount
and coupling

MR = MRS

MR
MRS
MRRV

for motor attachment via side drive with


timing belt

Mass moment of inertia


for motor attachment via motor mount
and coupling

for motor attachment via side drive with


timing belt

MR =

MRS
iRV

iRV

+ MRRV

Jfr

= JS+ JK + JBr

JS

= (k1+ k2 Lref + k3 mfr ) 10-6

Jtot

= Jfr + JM = JS + JK + JBr + JM

JS
+ JRV + JBr
iRV 2
JS = (k1+ k2 Lref + k3 mfr ) 10-6
Jfr =

Jtot = Jfr + JM =

JS
iRV 2

+ JRV + JM + JBr

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

for handling:

6 JM

for machining:

1.5 JM

Rotary speed

n1 =

Jfr
Jfr

iRV v 1000
P

n1 < nmax
v < permissible speed from graph

= friction torque at the


motor journal
= friction torque of the
system
= friction torque, side
drive timing belt
on motor journal
= gear reduction

(Nm)
(Nm)

(Nm)

Jtot = total mass moment of


inertia
(kgm2)
Jfr = mass moment of inertia
of load
(kgm2)
JS = mass moment of inertia
of system with additional
load
(kgm2)
JK = mass moment of inertia,
coupling
(kgm2)
JBr = mass moment of inertia,
motor brake
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)
JRV = reduced mass moment of
inertia, side drive timing
belt on motor journal
(kgm2)
(kg)
mfr = external load
(mm)
Lref = reference length
iRV = gear reduction
k1, k2, k3 = constant, see
Constants table

Jfr = mass moment of inertia


of load
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)

v
n1
nmax
P
iRV

= linear speed
(m/min)
= rotary speed
(min-1)
= maximum effective
rotary speed of
motor
(min-1)
= screw lead
(mm)
= gear reduction

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

97

Drive Units, Calculation and Examples

Technical data for AOK


Constants for calculation of friction torques and mass moments of inertia
AOK
size

Ball screw
size
d0 x P

20

20x 5
20x20
20x40
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

32

40

k1

Constants
k2

k3

Friction torque at the


motor journal MRS (Nm)
AOK

16.9480
40.6951
116.6860
131.7373
138.3865
164.9833
220.3047
378.5481
354.1415
404.2955
604.9115

0.1004
0.1004
0.1004
0.7117
0.7117
0.6668
0.6668
1.7830
1.6070
1.6070
1.6070

0.6330
10.1320
40.5285
0.6330
2.5330
10.1320
25.9380
0.6330
2.5330
10.1320
40.5280

0.40
0.50
0.60
0.80
0.90
0.90
1.00
1.20
1.50
1.30
1.60

Technical data for couplings


Ball screw size
d0 x P

Rated torque
MKN (Nm)

Coupling
Mass moment of inertia Weight
JK (kgm2)10-4
mK (kg)

20x5/20
32x5/10/20/32
40x5/10/20/40

19
50
98

0.57
2.0
3.9

0.26
0.7
0.9

98

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Rough Dimensioning of the AGK Drive


Rough dimensioning of the
AGK drive

The following calculation formulas


assist in determining the drive motor for
the FAR drive unit. Accurate layout
information is essential, as the motor
choice is dependent on the mounting

position, the applied loads and the


guides used. For an exact calculation of
the drive motors, see RE 82 710 and
R310D0 2725.

Friction torque
for motor attachment via motor mount
and coupling

MR = MRS

MR
MRS
MRRV

for motor attachment via side drive with


timing belt
Mass moment of inertia
for motor attachment via motor mount
and coupling

for motor attachment via side drive with


timing belt

MR =

MRS
iRV

+ MRRV

Jfr

= JS+ JK + JBr

JS

= (k1+ k2 Lref + k3 mfr ) 10-6

Jtot

= Jfr + JM = JS + JK + JBr + JM

JS
+ JRV + JBr
iRV 2
JS = (k1+ k2 Lref + k3 mfr) 10-6
Jfr =

Jtot = Jfr + JM =

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

iRV

JS
iRV 2

+ JRV + JM + JBr

for handling:

6 JM

for machining:

1.5 JM

Rotary speed
n1 =

Jfr
Jfr

iRV v 1000
P

n1 < nmax
v < permissible speed from graph

= friction torque at the


motor journal
= friction torque of the
system
= friction torque, side
drive with timing belt
on motor journal
= gear reduction

(Nm)
(Nm)

(Nm)

Jtot = total mass moment of


inertia
(kgm2)
Jfr = mass moment of inertia
of load
(kgm2)
JS = mass moment of inertia
of system with additional
load
(kgm2)
JK = mass moment of inertia,
coupling
(kgm2)
JBr = mass moment of inertia,
motor brake
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)
JRV = reduced mass moment of
inertia, side drive timing
belt on motor journal
(kgm2)
(kg)
mfr = external load
Lref = reference length
(mm)
iRV = gear reduction
k1, k2, k3 = constant, see
Constants table

Jfr = mass moment of inertia


of load
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)

v
n1
nmax
P
iRV

= linear speed
(m/min)
= rotary speed
(min-1)
= maximum effective
rotary speed of
motor
(min-1)
= screw lead
(mm)
= gear reduction

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

99

Drive Units, Calculation and Examples

Technical data for AGK Constants for calculation of friction torques and mass moments of inertia
AGK
size
20
32

40

Ball screw
size
d0 x p

k1

Constants
k2

k3

without SS*

20x 5
20x20
20x40
32x5
32x10
32x20
32x32
40x5
40x10
40x20
40x40

16.9480
40.6951
116.6860
131.7373
138.3865
164.9833
220.3047
378.5481
354.1415
404.2955
604.9115

0.1004
0.1004
0.1004
0.7117
0.7117
0.6668
0.6668
1.7830
1.6070
1.6070
1.6070

0.6330
10.1320
40.5285
0.6330
2.5330
10.1320
25.9380
0.6330
2.5330
10.1320
40.5280

0.40
0.50
0.60
0.80
0.90
0.90
1.00
1.20
1.50
1.30
1.60

Friction torque at the motor journal MRS (Nm)


1 pair SS
2 pairs SS
0.40
0.60
0.80
0.80
1.00
1.00
1.20
1.20
1.60
1.50
1.90

0.50
0.70
1.00
0.90
1.00
1.10
1.40
1.30
1.70
1.60
2.30

3 pairs SS
0.50
0.80
1.20
0.90
1.10
1.30
1.60
1.30
1.80
1.80
2.60

* where: SS = Screw support

Technical data for couplings


Coupling
Ball screw size
d0 x P

Rated torque
MKN(Nm)

Mass moment of inertia


JK (kgm2)10-4

Weight
mK (kg)

20x5/20
32x5/10/20/32
40x5/10/20/40

19
50
98

0.57
2.0
3.9

0.26
0.7
0.9

100

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, FAR Drive Unit


Given data
A drive unit is to be selected and
calculated for the table drive of
a machine tool. The table weighs
300 kg. The frictional drag of the
guides has already been factored

in to the machining forces. The customer uses a side drive timing belt
and motor of his own design. The
weight of the side drive timing belt
is mRV = 10 kg.

Operating conditions

F1 = 18000 N
F2 = 9000 N
F3 = 5000 N
F4 = 2000 N

The maximum linear speed in rapid


approach mode is specified as
100 m/min. The service life of the
machine should be 40,000 operating
hours with the ball screw operating
60% of the time.

at
at
at
at

n1
n2
n3
n4

=
20 min-1
= 100 min-1
= 500 min-1
= 2700 min-1

The end fixity is specified as fixed-fixed.


The loads, rotary speeds and discrete
time steps are given in the table on the
right.

Length calculation
Example of a stroke and length
calculation for FAR 50x40:
The required stroke is
LHmax = 2500 mm.
The length LC of the customer-built
structure (= interference contour) is
800 mm.
Because of the installation conditions,
the thread length should be 3500 mm.

Checking the linear speed


The rapid approach speed of 100 m/
min can be attained by the drive unit
FAR 50x40Rx6.5-3. The maximum
permissible linear speed of 108 m/mm
will not be exceeded.
Since the end fixity is fixed-fixed, no
further limitation of the linear speed is
necessary.
The chosen drive unit meets the
requirements and the calculation can
be continued.

Lthr = LHmax + LC + LN
Lthr = 2500 mm + 800 mm + 200 mm
Lthr = 3500 mm

for
for
for
for

q1 =
q2 =
q3 =
q4 =

10%
22%
47%
21%
100%

of the duty cycle


of the duty cycle
of the duty cycle
of the duty cycle

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

101

Drive Units, Calculation and Examples

Service life calculation


Average rotary speed nm

nm

21
22
10
47
20 + 100 100
2700
500
100
100
100

nm 824 min -1

Average load Fm for variable load and


variable speed

3 20
10
18000 824 100

Fm

Fm

4210 N

Required service life L


(revolutions)

Lh nm 60

The life L can be calculated by


transposing the formulas:

Lh

Machine service life

Lh

40000

24000 824

Required basic dynamic load rating


Creq

Creq

60
100

4210

9000
0

47
21
100 22
3 500
3 2700
5000
2000
824 100
824 100
824 100

Screw operating hours


Machine operating hours

24000 h
60

1 187 106 revolutions

1 187 000 000


106

Creq 44601 N

Result and selection


At 44,601 N, the calculated required
load rating of the drive unit is smaller
than the given load rating C=46,500 N
for the size 50x40. The dimensioning of
the drive unit therefore meets the service life requirement.

Cross check
Service life of the selected ball screw
in revolutions

46 500 106
4210

Lh

1347 106
826 60

Service life in hours Lh


The life of the selected ball screw is
thus greater than the required service
life of 20,000 hours (including
operating hours).

Lh 27 180 hours

L 1347 106 revolutions

102

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, FAR Drive Unit


Cross check of maximum
permissible load
4

Fk

f Fk

F kperm.

d2
2

lk

Fk
2

104

40.6

117 584
2

43.44
104 117 584 N
2
3500

58 792 N

For a stretched screw,


the following applies:
Fmax Fkperm.

Fkperm. =

Fmax = 18 000 N

Fk
2

+ FR

Required drive torque


Calculation of the required drive torque
under maximum axial load
Comparison of the calculated drive
torque with the permissible torque of
the screw journal (see table):
Recommended maximum torques for
the geometry of screw end 51
Size
32
40
50
63

MScrperm.
(N/m)
< 40
< 150
< 180
< 190

Mta

FP
2000

Mta

F P
2000 0.9

18000 40
2000 0.9

Mta < MScrperm. =180 Nm

127 Nm

= efficiency

(approx. 0.9)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

103

Drive Units, Calculation and Examples


Rough dimensioning of the drive
A motor is to be selected for a machine
tool. The motor must satisfy the requirement 1.5 JM Jfr while generating the
necessary torque Mta = 127 Nm. If no
suitable motor can be found, the use of
a gear reduction should be considered,
or the linear speeds or loads should be
reduced.

Js = JrotFAR+(mFAR-B-S+mfr)
Js = 79.8+(19.5+300)

P
20

40
20

Js = (79.8 + 129.5) 10-4


Js = 209.3 10-4 kgm2
mFAR-B-R = mFAR-B-S + mRV
= 9.5 + 10 = 19.5 kg
Jfr =
Jfr =

Js
i2Rv

+ JRV + JBr

209.3 10-4
12

+ 150 10-4

Jfr = 359.3 10-4


Jfr = 0.03593 kgm2
1.5 JM

Jfr

10-4

10-4

104

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, MHS Drive Unit


Given data
A drive unit is to be selected and
calculated for the table drive of
a machine tool. The table weighs
200 kg. The frictional drag of the
guides has already been factored
in to the machining forces.

Operating conditions
The maximum linear speed in rapid
approach mode is specified as
60 m/min. The service life of the
machine should be 40,000 operating
hours with the ball screw operating
60% of the time.

F1 =
F2 =
F3 =
F4 =

6000
4000
3000
2000

N
N
N
N

at
at
at
at

n1
n2
n3
n4

= 200 min-1
= 500 min-1
= 1000 min-1
= 3000 min-1

The end fixity is specified as fixed-fixed.


The loads, rotary speeds and discrete
time steps are given in the table on the
right.
Length calculation
Example of a stroke and length
calculation for MHS 40x20Rx6-3:

The required stroke is


LHmax = 2000 mm.
The length LC of the customer-built
structure (= interference contour) is
800 mm.
Because of the installation conditions,
the thread length should be 2960 mm.

Checking the linear speed


The rapid approach speed of 60 m/min
can be attained by the drive unit MHS
40x20Rx6-3. The maximum permissible
linear speed of 60 m/mm will not be
exceeded (see table on page 13).
Since the end fixity is fixed-fixed, no
further limitation of the linear speed is
necessary.
The chosen drive unit meets the requirements and the calculation can be continued.

Lthr = LHmax + LC + LN
Lthr = 2000 mm + 800 mm + 160 mm
Lthr = 2960 mm

for
for
for
for

q1 =
q2 =
q3 =
q4 =

10%
22%
47%
21%
100%

of the duty cycle


of the duty cycle
of the duty cycle
of the duty cycle

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

105

Drive Units, Calculation and Examples


Service life calculation
Average rotary speed nm

21
22
10
47
200 + 100 500
3000
1000
100
100
100

nm

nm 1230 min -1

Average load Fm for variable load and


variable speed

Fm

Fm

2870 N

6000

200

10
100

Required service life L


(revolutions)

Lh nm 60

The life L can be calculated by


transposing the formulas:

Lh

Machine service life

Lh

40000

24000 1230 60

Required basic dynamic load rating


Creq

Creq 2870

60
100

4000
0

47
500 22
3
3000
1230 100
1230 100

2000

3000 21
1230 100

Screw operating hours


Machine operating hours

24000 h
L

1 771 106 revolutions

1 771 000 000


106

Creq 34725 N

Result and selection


At 34,725 N, the calculated required
load rating of the drive unit is smaller
than the given load rating C=37,900 N
for the selected size 40x20x6-3. The
dimensioning of the drive unit therefore
meets the service life requirement.

Cross check
Service life of the selected ball screw in
revolutions

Service life in hours Lh


The life of the selected ball screw is
thus greater than the required service
life of 24,000 hours (including
operating hours).

37900
2870

106

2303 106
Lh 1230 60
Lh 31 206 hours

L 2303 106 revolutions

106

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, MHS Drive Unit


Cross check of maximum
permissible load

Fk

f Fk

d2

104

lk

33.84
104
29602

40.6

60 480 N

Fkperm.

Fk
2
60 480
2
30 240 N

Fmax Fkperm.

Fmax = 6000 N

Required drive torque


Calculation of the required drive torque
under maximum axial load
Comparison of the calculated drive
torque with the permissible torque of
the screw journal (see table):
Recommended maximum torques for
the geometry of screw end 51
Size
32
40
50
63

MScrperm.
(N/m)
< 40
< 150
< 180
< 190

M ta

Mta

FP

2000

F P
2000 0.9

6000 20
2000 0.9

Mta < MScrperm. = 180 Nm

21.22 Nm

= efficiency

(approx. 0.9)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

107

Drive Units, Calculation and Examples

Rough dimensioning of the drive


P
20

( )
20
J = (37.6 + 200) (
20 )
Js = (mMHS + mBr+mfr)

Js = 0.0051 kgm2
Jfr = Js + JBr
A motor is to be selected for the
machine tool. The motor must satisfy the requirement 1.5 JM Jfr while
generating the necessary torque
Mta = 21.22 Nm.

= 0.0051 + 0.0056
= 0.0107 kgm2
1.5 JM

Jfr

1.5 0.013
0.0195

0.0107

0.0107

condition fulfilled

108

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, AOK Drive Unit


Given data
The application example is a handling
axis. The table mass is 100 kg. The
frictional drag of the guides has been
factored in to the machining forces. The
rapid approach speed is v = 30 m/min.

F1 =
F2 =
F3 =
F4 =

Operating conditions
The service life of the unit should be
40,000 operating hours with the ball
screw operating 50% of the time.

Length calculation

2100 N
2000 N
1800 N
800 N

n1
n2
n3
n4

= 200 min-1
= 500 min-1
= 1500 min-1
= 1500 min-1

for
for
for
for

q1 =
q2 =
q3 =
q4 =

15%
30%
30%
25%
100%

of the duty cycle


of the duty cycle
of the duty cycle
of the duty cycle

= LHmax + LA + LN
= 1650 mm + 150 mm + 128 mm
= 1928 mm

Lref
Lref
Lref

Example of a stroke and length


calculation for AOK 32x20:

at
at
at
at

LAOK = Lref + L2 + B1 + B11


LAOK = 1928 mm + 58 mm + 60 mm + 70 mm
LAOK = 2116 mm

The required stroke is 1650 mm.

100

15.63

31.25 62.5

12.5

25

50

80

9.38

18.75

37.5

60

6.25

12.5

25

40

3.13

6.25 12.5

20

0
32x32

32x10

32x20

AOK
0
32x5

At 30 m/min, the required speed is


lower than the permissible speed
of 40 m/min:

v (m/min)

Checking the linear speed

500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Length 1928 mm

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

109

Drive Units, Calculation and Examples

Service life calculation


Average rotary speed nm

nm

25
30
15
30
200 + 100 500
1500
1500
100
100
100

nm 1005 min -1

Average load Fm for variable load


and variable speed

Required service life L


(revolutions)
The life L can be calculated by
transposing the formulas:

Required basic dynamic load rating


Creq

3 200 15
2100 1005 100

Fm

Fm

1623 N

Lh nm 60

Lh

Machine service life

Lh

40000

20000 1005 60

Creq 1623

50
100

500 30
1005 100

25
1500 30
3 3000
800
1005 100
1005 100

Screw operating hours


Machine operating hours

20000 h
L

1 206 106 revolutions

1 206 000 000


106

Creq 17275 N

Result and selection


At 17,275 N, the calculated required
load rating of the drive unit is smaller
than the given load rating C=19,700 N
for the selected size 32x20. The
dimensioning of the drive unit therefore meets the service life requirement.

Cross check
Service life of the selected ball screw
in revolutions

Service life in hours Lh


The life of the selected ball screw is
thus greater than the required service
life of 20,000 hours (including
operating hours).

19 700 106
1623

Lh

1761 106
1005 60

Lh 29 207 hours

L 1761 106 revolutions

110

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, AOK Drive Unit


Required drive torque
Calculation of the required drive torque
under maximum axial load

Mta

FP
2000 0.9

2100 20 7.4 [Nm]


5655

Permissible torque
The required torque lies below the
permissible drive torque according
to the chart.

Mperm. (Nm)

= efficiency (0.9)

40

OF; MF: 37 Nm

35
30
25
20

MKD 071B iRV=1: 19 Nm

AOK

15

Required torque
at maximum load
Mta = 7.4 Nm

10
5
0
500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Length 1928 mm

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

111

Drive Units, Calculation and Examples

Rough dimensioning of the drive


A motor MKD 071B with controller
DKC*.3-040 is specified for the drive.
Motor attachment is via motor mount
and coupling.

Jfr = JS+ JK + JBr


JS = (k1+ k2 L + k3 mfr) 10-6
JS = (164.9833 + 0.668 2308 +
10.1320 100) 10-6
JS = 0.002717 kgm2

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

Jfr = 0.002717 + 0.0002 + 0.000072


= 0.0030 kgm2

Since the factor 3.45 lies between


1.5 and 6, the selected motor is suitable for use in a handling application.

0.0030
Jfr
=
0.00087
JM

JM = 0.00087 kgm2 from table


on page 15 or 17

= 3.45

112

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, AGK Drive Unit


Given data
The application example is a handling
axis. The table mass is 100 kg. The
frictional drag of the guides has been
factored in to the machining forces. The
rapid approach speed is v = 60 m/min.

Operating conditions
The service life of the unit should be
40,000 operating hours with the ball
screw operating 50% of the time.

F1 =
F2 =
F3 =
F4 =

Length calculation
Example of a stroke and length calculation for AGK 32x20 with two screw
supports:

2100 N
2000 N
1800 N
800 N

Lref
Lref
Lref

at
at
at
at

n1
n2
n3
n4

= 200 min-1
= 500 min-1
= 1500 min-1
= 3000 min-1

q1 =
q2 =
q3 =
q4 =

15%
30%
30%
25%
100%

of the duty cycle


of the duty cycle
of the duty cycle
of the duty cycle

= LHmax + LC + LN
= 1650 mm + 204 mm + 454 mm
= 2308 mm

LAGK = Lref + L2 + B1 + B11


LAGK = 2308 mm + 58 mm + 60 mm + 70 mm
LAGK = 2496 mm

The required stroke is 1650 mm.


By using 2 screw supports, the maximum linear speed to be achieved over
the entire stroke (see charts sections).

Checking the linear speed

AGK with two screw supports


v (m/min)

The desired speed of 60 m/min is equal


to the permissible speed of 60 m/min:

for
for
for
for

100

15.63

31.25 62.5

12.5

25

50

80

9.38

18.75

37.5

60

6.25

12.5

25

40

3 SS

2 SS
3.13

6.25 12.5

20

1 SS

32x32

32x10

32x5

For comparison: Without screw supports, the maximum linear speed would
be limited to 25 m/min.

32x20

0 SS
0

500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Lref (mm)

Length 2308 mm

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

113

Drive Units, Calculation and Examples

Service life calculation


Average rotary speed nm

nm

25
30
15
30
200 + 100 500
3000
1500
100
100
100

nm 1380 min -1

Average load Fm for variable load and


variable speed

Required service life L


(revolutions)
The life L can be calculated by
transposing the formulas:

3 200 15
2100 1380 100

Fm

Fm

1481 N

Lh nm 60

Lh

Machine service life

Lh

40000 50
100

20000 1380 60

500 30
1380 100

25
1500 30
3 3000
800
1380 100
1380 100

Screw operating hours


Machine operating hours

20000 h
L

1 656 106 revolutions

Required basic dynamic load rating Creq

Creq 1481

1 656 000 000


106

Creq 17522 N

Result and selection


At 17,522 N, the calculated required
load rating of the drive unit is smaller
than the given load rating C=19,700 N
for the selected size 32x20. The dimensioning of the drive unit therefore meets
the service life requirement.

Cross check
Service life of the selected ball screw in
revolutions

Service life in hours Lh


The life of the selected ball screw is
thus greater than the required service
life of 20,000 hours (including
operating hours).

19 700 106
1481

Lh

2354 106
1380 60

Lh 28 430 hours

L 2354 106 revolutions

114

Bosch Rexroth Corporation

Drive Units

R310A 3304 (03.2006)

Drive Units, Calculation and Examples

Calculation Example, AGK Drive Unit


Checking the drive torque
Calculation of the required drive torque
under maximum axial load

Mta

FP
2000 0.9

2100 20 7.4 [Nm]


5655

The required torque lies below the permissible drive torque according to the
chart.

Mperm. (Nm)

Permissible torque

= efficiency (0.9)

40

OF; MF: 37 Nm

AGK 2, 3 SS
AGK 1 SS

35
30
25
20

Required torque
at maximum load
Mta = 7.4 Nm

MKD 071B iRV=1: 19 Nm

AGK
0 SS

15
10
5
0

Even at maximum loading, the required


torque is well below the permissible
value.

500

1000 1500 2000 2500 3000 3500 4000 4500 5000

Length 2308 mm

Lref (mm)

R310A 3304 (03.2006)

Drive Units

Bosch Rexroth Corporation

115

Drive Units, Calculation and Examples


Rough dimensioning of the drive
Jfr = JS+ JK + JBr
A motor MKD 071B with controller
DKC*.3-040 is specified for the drive.
Motor attachment is via motor mount
and coupling.

JS = (k1+ k2 L + k3 mfr) 10-6


JS = (164.9833 + 0.668 2308 +
10.1320 100) 10-6
JS = 0.002717 kgm2

The ratio of the mass moment of inertia


of the payload to the motor mass moment of inertia is therefore as follows:

Since the factor 3.45 lies between 1.5


and 6, the selected motor is suitable for
use in a handling application
.

Jfr = 0.002717 + 0.0002 + 0.000072


= 0.0030 kgm2
JM = 0.00087 kgm2 from table
on page 15 or 17
Jfr
0.0030
=
JM
0.00087

= 3.45

Bosch Rexroth Corporation


Linear Motion and
Assembly Technologies
14001 South Lakes Drive
Charlotte, NC 28273
Telephone (800) 438-5983
Facsimile (704) 583-0523
www.boschrexroth-us.com

Bosch Rexroth Corporation


Corporate Headquarters
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
Bosch Rexroth Corporation
Industrial Hydraulics
2315 City Line Road
Bethlehem, PA 18017-2131
Telephone (610) 694-8300
Facsimile (610) 694-8467
Bosch Rexroth Corporation
Electric Drives and Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
Bosch Rexroth Corporation
Pneumatics
1953 Mercer Road
Lexington, KY 40511-1021
Telephone (859) 254-8031
Facsimile (859) 281-3491
Bosch Rexroth Corporation
Mobile Hydraulics
1700 Old Mansfield Road
Wooster, OH 44691-0394
Telephone (330) 263-3300
Facsimile (330) 263-3333

R310A 3304
Printed in the United States