Modulo Linear Bosch Rexroth

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)
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
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
26
26
22
24
28
30
Drive Units with

Driven Screw
AOK Drive Units with Driven Screw
Product Overview
Dimensioning
Stroke and Length Calculations
with Motor Mount, Coupling and Motor
Permissible Speeds
Permissible Drive Torque
AGK Drive Units with Driven Screw

Product Overview
Dimensioning
Stroke and Length Calculations
with Motor Mount, Coupling and Motor
Permissible Speeds
Permissible Drive Torque
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
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)
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
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)
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
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)
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
Drive Units
R310A 3304 (03.2006)
Drive Units

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
R310A 3304 (03.2006)
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
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
R310A 3304 (03.2006)
Drive Units
Drive Units

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)
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
>
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
End fixity III floating-floating
Parameters:
1000
Lmax
Lmax
500
7500
>
End fixity I fixed-fixed:
1000
1200
1400
Lmax
14
Drive Units
R310A 3304 (03.2006)
Drive Units

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)
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
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
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
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
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

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

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
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)

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
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

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
Drive Units
R310A 3304 (03.2006)
FAR Drive Units
Technical Data and Dimensions, FAR with Side Drive and Motor
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
d0
P
DW
i
=
=
=
=
nominal diameter
lead (R = right)
ball diameter
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
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
Drive Units
R310A 3304 (03.2006)
FAR Drive Units

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
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
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)
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
R310A 3304 (03.2006)
Drive Units
MHS Drive Units
Length Calculation, Dimensions and Technical Data, MHS

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
LHmax = LH1 + LH2 = maximum stroke
LMHS = length of motor with ball nut
LMHS = LM + LE
LN

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
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)
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

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
Drive Units
R310A 3304 (03.2006)
MHS Drive Units
MHS

Charlotte, NC 28276

Length (mm) to be
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:
R310A 3304 (03.2006)
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

Lead (mm)
Ball diameter (mm)
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

is always supplied
1 lead test report

Lubrication
0 preserved
* 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
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
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
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:
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)
bearings
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
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.
an application example can be found in
the Calculation and Examples section.
R310A 3304 (03.2006)
Drive Units
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
Drive Units
R310A 3304 (03.2006)
MHS Drive Units
Stroke and Length Calculations, AOK

LHmax = maximum stroke

LA
= length of ball nut enclosure
LN

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
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
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
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)
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
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.
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

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
41
MHS Drive Units

MKD 041B with brake
Part number R3471 010 03
MKD 071B with brake
MKD 041B without brake
not standard
not standard
45
45
HE
D
ES
LE
45
SE1
LE1
LMF
LE1
LE
HE
DE
LMF
SE1
45
MKD 090B with brake
MSM 040B with brake
not standard
MSM 040B without brake
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

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
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.
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
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)

Motor
JM (kgm2)10-4
3000
6000
4500
3200
0.67
1.7
8.7
43.0
Brake holding
torque
Brake
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;

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
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
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
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
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
47
MHS Drive Units
OF
MF
RV
Mperm. (Nm)
Size 20x40
12
10
OF; MF: 9.8 Nm
AOK
8
6
4
2
0
500
1000
1500
2000
2500
Lref (mm)
48
R310A 3304 (03.2006)
Drive Units
MHS Drive Units
Size 32x5
Mperm. (Nm)

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
15
10
AOK
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Lref (mm)
R310A 3304 (03.2006)
Drive Units
49
MHS Drive Units
Size 32x20
MF
Mperm. (Nm)
OF
40
RV
OF; MF: 37 Nm
35
30
25
20
AOK
15
10
5
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Size 32x32
Mperm. (Nm)
40
Lref (mm)
OF; MF: 37 Nm
35
30
AOK
25
20
15
10
5
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Lref (mm)
50
R310A 3304 (03.2006)
Drive Units
MHS Drive Units
Size 40x5
Mperm. (Nm)

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
R310A 3304 (03.2006)
Drive Units
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
Drive Units
R310A 3304 (03.2006)
MHS Drive Units
Size 40x20
Mperm. (Nm)

120
OF; MF: 103 Nm
100
80
60
40
20
AOK
0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000
Size 40x40
Mperm. (Nm)

Lref (mm)
120
OF; MF: 103 Nm
100
80
60
40
20
AOK
0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Lref (mm)
R310A 3304 (03.2006)
Drive Units
53
MHS Drive Units
OF
MF
RV
54
Drive Units
R310A 3304 (03.2006)
MHS Drive Units
AOK
Example:
AOK32 40x20
MKD071B
OB X

Charlotte, NC 28276
RV
iRV=2 X
SEC-F X
Tel:
(704) 583-4338 or
(800) 564-6524
(704) 583-0523
Fax:
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
55
MHS Drive Units

Length (mm) to be
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

Lead (mm)
Ball diameter (mm)
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 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

is always supplied

1 lead test report

Lubrication
0 preserved
Sender
Company
Name
Address
Department
Telephone
Fax
e-mail
0 1
56
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
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
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
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
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:
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)
bearings
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.

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.
an application example can be found in
the Calculation and Examples section.
R310A 3304 (03.2006)
Drive Units
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
Drive Units
R310A 3304 (03.2006)
AGK Drive Units
Stroke and Length Calculations, AGK

LHmax = maximum stroke
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
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:
Lref
Lref
Lref
= LHmax + LC + LN
= 1650 mm + 204 mm + 454 mm
= 2308 mm

LAGK = 2308 mm + 58 mm + 60 mm + 70 mm
LAGK = 2496 mm
L31
64
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.
Lmtg* = Lref + B2 + (B11/2)

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

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
67
AGK Drive Units

MKD 041B with brake
MKD 071B with brake
not standard
not standard
45
45
HE
D
ES
LE
45
SE1
LE1
LMF
LE1
LE
HE
DE
LMF
SE1
45
MKD 090B with brake
MSM 040B with brake
not standard
MSM 040B without brake
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;
3000
6000
4500
3200

Motor
JM (kgm2)10-4
Brake holding
torque
Weight
Brake
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

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
Drive Units
R310A 3304 (03.2006)
AGK Drive Units
Technical Data and Dimensions, AGK

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
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

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;

Brake holding
torque
Brake
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

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
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
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
R310A 3304 (03.2006)
Drive Units
AGK Drive Units
Permissible Drive Torque for AGK

Size 20x5
Mperm. (Nm)
5
OF; MF: 3.9 Nm
AGK
1, 2, 3 SS
AGK
0 SS

2
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
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
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
2
0
500
1000
1500
2000
2500
Lref (mm)
74
Drive Units
R310A 3304 (03.2006)
AGK Drive Units
Size 32x5
Mperm. (Nm)

16
OF; MF: 13 Nm
14
12
AGK 3 SS
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)
Lref (mm)
30
OF; MF: 26 Nm
AGK 3 SS
25
20
AGK 2 SS
AGK 1 SS
15
10
AGK 0 SS
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Lref (mm)
R310A 3304 (03.2006)
Drive Units
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
AGK 0 SS
15
10
5
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Size 32x32
Mperm. (Nm)
40
OF; MF: 37 Nm
35
30
Lref (mm)
AGK
1, 2, 3 SS
AGK
0 SS
25
20
15
10
5
0
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Lref (mm)
76
Drive Units
R310A 3304 (03.2006)
AGK Drive Units
Size 40x5
Mperm. (Nm)

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

Lref (mm)
R310A 3304 (03.2006)
Drive Units
77
AGK Drive Units
Size 40x20
MF
Mperm. (Nm)
OF
RV
120
OF; MF: 103 Nm
100
80
AGK 3 SS
60
40
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)

Lref (mm)
160
OF; MF: 142 Nm
140
AGK 3 SS
120
100
AGK 2 SS
80
AGK 1 SS
60
40
AGK 0 SS
20
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 5500 6000 6500 7000

Lref (mm)
78
Drive Units
R310A 3304 (03.2006)
AGK Drive Units

Charlotte, NC 28276
AGK
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:
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

2m cable
10m cable
Socket
MA03 (right)
RV02
RV04
Polyurethane
1 SS
3 SS
10m cable

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
79
AGK Drive Units

Length (mm) to be
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)
Ball diameter (mm)
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 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

is always supplied

1 lead test report

Lubrication
0 preserved
Sender
Company
Name
Address
Department
Telephone
Fax
e-mail
0 1
80
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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

Charlotte, NC 28276
Tel:
(704) 583-4338 or
(800) 564-6524
To: Precision Ball Screw Assemblies
Fax: (704) 583-0523
Department
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
Drive Units
R310A 3304 (03.2006)
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
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)
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)
JM
of motor
(kgm2)
JRv = reduced mass moment of
inertia, side drive timing
(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

of load
of motor
(mm)
(kg)
(kg)
(kg)
(kg)
(kg)
(kgm2)
(kgm2)
R310A 3304 (03.2006)
Drive Units
93
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
Drive Units
R310A 3304 (03.2006)
Rough Dimensioning of the MHS Drive

MHS drive

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)

JS =
JMHS+(mMHS+mBr+ mfr)
P
20
-4
Jfr = JS + JBr
Jtot = JM + Jfr

for handling:
for machining:
6 JM
Jfr
1.5 JM
Jfr
Jfr

of load
(kgm2)
JM = mass moment of inertia
of motor
(kgm2)
(kg)
mfr = external load
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

of load
of motor
(kgm2)
(kgm2)
R310A 3304 (03.2006)
Drive Units
95
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
Drive Units
R310A 3304 (03.2006)
Rough Dimensioning of the AOK Drive

AOK drive

infor-mation is essential, as the motor

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

timing belt

and coupling

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

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

motor journal
system
= friction torque, side
drive timing belt
on motor journal
= gear reduction
(Nm)
(Nm)
(Nm)

inertia
(kgm2)
Jfr = mass moment of inertia
of load
(kgm2)
load
(kgm2)
JK = mass moment of inertia,
coupling
(kgm2)
motor brake
(kgm2)
of motor
(kgm2)
JRV = reduced mass moment of
(kgm2)
(kg)
mfr = external load
(mm)
Lref = reference length
iRV = gear reduction
k1, k2, k3 = constant, see
Constants table

of load
(kgm2)
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
97
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
Drive Units
R310A 3304 (03.2006)
Rough Dimensioning of the AGK Drive

AGK drive

information is essential, as the motor

guides used. For an exact calculation of
the drive motors, see RE 82 710 and
R310D0 2725.
Friction torque
and coupling
MR = MRS
MR
MRS
MRRV

timing belt
and coupling

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 =

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

motor journal
system
= friction torque, side
drive with timing belt
on motor journal
= gear reduction
(Nm)
(Nm)
(Nm)

inertia
(kgm2)
of load
(kgm2)
load
(kgm2)
JK = mass moment of inertia,
coupling
(kgm2)
motor brake
(kgm2)
of motor
(kgm2)
JRV = reduced mass moment of
(kgm2)
(kg)
mfr = external load
Lref = reference length
(mm)
iRV = gear reduction
k1, k2, k3 = constant, see
Constants table

of load
(kgm2)
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
99
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)

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
Drive Units
R310A 3304 (03.2006)

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.
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
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
101

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

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

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
Drive Units
R310A 3304 (03.2006)

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):
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
103

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
Drive Units
R310A 3304 (03.2006)

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.
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
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.

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
105

21
22
10
47
200 + 100 500
3000
1000
100
100
100
nm
nm 1230 min -1

variable speed
Fm
Fm
2870 N
6000
200
10
100

(revolutions)
Lh nm 60

Lh
Lh
40000
24000 1230 60

Creq
Creq 2870
60
100
4000
0
47
500 22
3
3000
1230 100
1230 100
2000
3000 21
1230 100

24000 h
L
1 771 000 000

106
Creq 34725 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

operating hours).
37900
2870
106
2303 106
Lh 1230 60
Lh 31 206 hours
106
Drive Units
R310A 3304 (03.2006)

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

Comparison of the calculated drive
torque with the permissible torque of
the screw journal (see table):
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
107

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
Drive Units
R310A 3304 (03.2006)

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 =
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

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
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)
500
1000 1500 2000 2500 3000 3500 4000 4500 5000
Length 1928 mm
Lref (mm)
R310A 3304 (03.2006)
Drive Units
109

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

(revolutions)

Creq
3 200 15
2100 1005 100
Fm
Fm
1623 N
Lh nm 60
Lh
Lh
40000
20000 1005 60
Creq 1623
50
100
500 30
1005 100
25
1500 30
3 3000
800
1005 100
1005 100

20000 h
L
1 206 000 000

106
Creq 17275 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

operating hours).
19 700 106
1623
Lh
1761 106
1005 60
Lh 29 207 hours
110
Drive Units
R310A 3304 (03.2006)

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
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
111

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

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
Drive Units
R310A 3304 (03.2006)

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

By using 2 screw supports, the maximum linear speed to be achieved over
the entire stroke (see charts sections).
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
113

nm
25
30
15
30
200 + 100 500
3000
1500
100
100
100
nm 1380 min -1

variable speed

(revolutions)
3 200 15
2100 1380 100
Fm
Fm
1481 N
Lh nm 60
Lh
Lh
40000 50
100
20000 1380 60
500 30
1380 100
25
1500 30
3 3000
800
1380 100
1380 100

20000 h
L
Required basic dynamic load rating Creq
Creq 1481
1 656 000 000

106
Creq 17522 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

operating hours).
19 700 106
1481
Lh
2354 106
1380 60
Lh 28 430 hours
114
Drive Units
R310A 3304 (03.2006)

Checking the drive torque
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
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
115

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

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

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

Corporate Headquarters
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
Industrial Hydraulics
2315 City Line Road
Bethlehem, PA 18017-2131
Telephone (610) 694-8300
Facsimile (610) 694-8467
Electric Drives and Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
Pneumatics
1953 Mercer Road
Lexington, KY 40511-1021
Telephone (859) 254-8031
Facsimile (859) 281-3491
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

Modulo Linear Bosch Rexroth

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Drive Units with

Ball Screw Drives

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Linear Motion and Assembly Technologies

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive Units with

Drive Units with Driven Nut

FAR Drive Units with Side Drive

MHS Drive Units with Hollow-Shaft Motor

Drive Units with

AGK Drive Units with Driven Screw

Calculation and Examples

Bosch Rexroth Corporation

R310A 3304 (03.2006)

FAR drive unit

FAR drive unit

Precision screw SN-F

Precision-rolled screw SN-R

Maximum length (mm)

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Drive units with driven screw

Precision screw SN-F

Maximum length (mm)

standard, available at short notice

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Product Overview, Drive Units with Driven Nut

The FAR driven nut takes a different

Vertical axis of a machining center:

R310A 3304 (03.2006)

Bosch Rexroth Corporation

The concept of the MHS 40 drive unit

The screw of the ball screw assembly is

Vertical axis of a machining center:

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Characteristics of Driven Nuts

R310A 3304 (03.2006)

Bosch Rexroth Corporation

Critical speed for driven

For the driven, rotating screw, the

Critical speed nk (min-1)

Recommended operating range

For systems with a driven screw the

Critical speed for driven nut:

Since the FAR and MHS drive units

nmax bearing 2700 rev/min

Critical speed nk (min-1)

For systems with a driven nut and

The critical speed is no longer a

Bosch Rexroth Corporation

R310A 3304 (03.2006)

Characteristics of Driven Nuts

For comparison: Driven screw

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

The charts shown here clearly illustrate

For fixity II fixed-floating, the floating

R310A 3304 (03.2006)

Bosch Rexroth Corporation

The permissible rotary and linear