4.1.

Flowchart

4. Selecting the Correct Type of LM Guide

4.1 Flowchart
1
Set the operating conditions. Span, No. of blocks, and No. of rails changed

Set the conditions for the design of loads on the LM Guide.

- Space available for the guide part - Dimensions (span, No. of blocks, No. of rails, and thrust) - Installation direction (horizontal, vertical, tilted, wall-hung, or suspended) - Magnitude of the applied load, direction, and location - Frequency of use (duty cycle) Type and size changed

- Velocity (acceleration) - Stroke length - Required service life - Motion precision - Service environment

Select the correct type.

Select the correct type for the operating conditions and assume an approximate size.

SSR, SR, SHS, HSR, JR, CSR, SNR, NR, HRW, GSR, RSR, and HCR

3 4

Calculate the applied load.

Calculate the load that an LM block exerts on the LM Guide.

Calculate the equivalent load.

Convert the load that an LM block exerts in each direction into an equivalent load.

Calculate the static safety factor.

Verify the value of the static safety factor for the basic static-load rating and maximum applied load. Is the static safety factor verified?

NO

YES

6 7 8

Calculate the mean load.

Average the applied loads which fluctuate during operation, and convert them into a mean load.

Calculate the nominal life.

Calculate the running distance using the service-life equation.

Calculate the service life in hours.

Convert the running distance obtained into the service life in hours. Does the value obtained satisfy the required service life?

NO

YES

11

Safety design.
Determine the lubricants (grease, oil, special lubrication, etc.) to be used. Determine the lubrication method (periodic greasing, forced lubrication, etc.) to be used. Determine the material (standard, stainless steel, etc.) to be used. Determine the surface treatment (anticorrosion, appearance protection, etc.) to be provided. Design contaminant protection (bellows, telescopic cover, etc.).

Completion of selection.

A-66

A-II

Forecast the rigidity.

10

Set the precision.

Determine the accuracy

Determine the redial clearance to be used. Determine the fastening methods to be used. Determine the rigidity at the fastened areas.

grade to be applied.
Determine the mounting-

surface precision to be used.

A-67

4.2 Applied Load Direction and Load Rating

The LM Guide can bear loads and moments in all directions resulting from the installation direction and location of the guide system, the location of the center of gravity of a moving object thereon, the location at which thrust occurs, the acceleration, the machining resistance, and the like.

Reverse-radial load

Radial load

Moment Rolling

Lateral load

Lateral load

Moment Pitching

Moment Yawing

Fig. 30 Applied Load Direction

A-68

4.2.1 LM-Guide Load Ratings in Various Directions

The LM Guide can be divided into two major types: the four-way equal-load type, which has the same load rating for all radial, reverse-radial, and lateral loads; and the radial type, which has a high load rating in the radial direction. With the radial type, load ratings in the radial, reverse-radial, and lateral directions differ. If a radial type is used under a load in one of these directions, multiply the relevant basic load rating provided in the corresponding dimension table by the factor specified in the respective section.

A-II

Load Rating in Each Direction Type Four-way equal-load type

Load distribution curve

Radial type

A-69

4.2.2 Calculating the Load Using the Moment-Equivalent Factor

Where a sufficient installation space is not available, you may be obliged to use just one LM block or two LM blocks laid over one another for the LM Guide. In such a setting, the load distribution cannot be uniform and, as a result, an excessive load is exerted in localized areas (e.g., rail ends). Continued use under such conditions may result in flaking in those areas, consequently shortening the service life. In such a case, calculate true load by multiplying the moment value by any one of the moment-equivalent factors specified in Tables 6 through 10.

KA, KB, and KC represent the equivalent moment factors in directions MA, MB, and MC, respectively.

Calculation Examples
One LM block is used Model No.: HSR25A1 Gravitational acceleration g = 9.8 m/s2 Mass m = 10 kg

Fig. 32 Equivalent Load Calculation for a System Using One LM Block

Moment load
Rows of balls under a load

LM rail

P = MCKC+MAKA+mg = 98 x 100 x 0.087 + 98 x 200 x 0.13 + 98 = 3500 N Two LM blocks are used laid over one another. Model No.: SR20V2 Gravitational acceleration g = 9.8 m/s2 Mass m = 5 kg

Ball displacement line

Ball load curve

Moment load
Rows of balls under a load

Fig. 33 Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another
P1 = MC/2 x KC+MAxKA+mg/2 = 49x150/2x0.109+49x200x0.0378+49/2=795.5 N P1L = MC/2xKC+MAxKA+mg/2 = 49x150/2x0.109+49x200x0.0378+49/2=5.6 N P2 = MC/2xKCMAxKA+mg/2 = 49x150/2x0.10949x200x0.0378+49/2=54.6 N P2L = MC/2xKC-MAxKA+mg/2 = 49x150/2x0.10949x200x0.0378+49/2=746.5 N Notes 1. Since an LM Guide in a vertical position receives only a moment load, there is no need to apply other loads (mg). 2. In some models, load ratings differ depending on the direction of the applied load. With such a model, calculate an equivalent load in a direction in which conditions are comparably bad (i.e. a direction in which a larger moment is applied).

Maximum applied load on a ball

Maximum ball displacement

Ball displacement line

Ball load curve

Fig. 31 Ball Load Effected by a Moment

An equivalent-load equation applicable when a moment acts on an LM Guide is shown below. P = K M where P : equivalent load per LM Guide K : equivalent moment factor M : developed moment (Nmm)

A-70

Table 6 Equivalent Factors (Types SSR, SNR, SNS, and SHS)

KA,, KB
Equivalent Load Calculation for a System Using One LM Block Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another

Model No. SSR15W (TB) SSR15V SSR20W (TB) SSR20V SSR25W (TB) SSR25V SSR30W SSR35W SNR25 SNR25L SNR30 SNR30L SNR35 SNR35L SNR45 SNR45L SNR55 SNR55L SNR65 SNR65L SHS15 SHS20 SHS20L SHS25 SHS25L SHS30 SHS30L SHS35 SHS35L SHS45 SHS45L SHS55 SHS55L SHS65 SHS65L SNS25 SNS25L SNS30 SNS30L SNS35 SNS35L SNS45 SNS45L SNS55 SNS55L SNS65 SNS65L

KC
1.45x101 1.45x101 1.10x101 1.10x101 9.34x102 9.34x102 7.85x102 6.49x102 8.91x102 8.91x102 7.97x102 7.97x102 6.66x102 6.66x102 4.99x102 4.99x102 4.28x102 4.28x102 3.62x102 3.62x102 1.39x101 9.91x102 9.91x102 8.63x102 8.63x102 7.15x102 7.15x102 5.85x102 5.85x102 4.38x102 4.38x102 3.75x102 3.75x102 3.18x102 3.18x102

A-II

1.93x101 3.27x101 1.67x101 2.55x101 1.31x101 1.99x10

1

3.40x102 4.36x102 2.91x102 3.86x102 2.34x102 3.08x10

2

1.10x101 1.01x101 1.25x101 9.94x102 1.10x10

1

2.01x102 1.74x102 2.36x102 1.95x102 1.98x10

2

8.62x102 9.63x102 7.56x102 7.47x102 5.74x10

2

1.64x102 1.78x102 1.47x102 1.43x102 1.17x10

2

6.31x102 4.91x102 5.48x102 4.02x102 1.68x10

1

1.21x102 1.00x102 1.06x102 8.17x103 3.04x10

2

1.32x101 1.01x101 1.12x101 9.14x102 9.74x10

2

2.49x102 2.05x102 2.15x102 1.84x102 1.86x10

2

7.48x102 8.47x102 6.50x102 7.47x102 5.74x10

2

1.53x102 1.62x102 1.32x102 1.41x102 1.15x10

2

6.05x102 4.65x102 4.44x102 3.50x102

1.15x102 9.41x103 9.02x103 7.42x103

KA: Equivalent moment factor in the pitching direction KB: Equivalent moment factor in the yawing direction KC: Equivalent moment factor in the rolling direction

A-71

Table 7 Equivalent Factors (Types SR, NR, and NRS)

KA, KB
Equivalent Load Calculation for a System Using One LM Block Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another

Model No. SR15W (TB) SR15V (SB) SR20W (TB) SR20V (SB) SR25W (TB) SR25V (SB) SR30W (TB) SR30V (SB) SR35W (TB) SR35V (SB) SR45W (TB) SR55W (TB) SR70T SR85T SR100T SR120T SR150T NR25X NR25LX NR30 NR30L NR35 NR35L NR45 NR45L NR55 NR55L NR65 NR65L NR75 NR75L NR85 NR85L NR100 NR100L NRS25X NRS25LX NRS30 NRS30L NRS35 NRS35L NRS45 NRS45L NRS55 NRS55L NRS65 NRS65L NRS75 NRS75L NRS85 NRS85L NRS100 NRS100L

KC 3.41x102 4.44x102 2.92x102 3.78x10 2.34x10

2 2

1.95x101 3.17x101 1.70x101 2.77x10 1.36x10

1 1

1.44x101 1.44x101 1.09x101 1.09x101 9.31x102 9.31x102 7.82x102 7.82x102 6.47x102 6.47x102 4.81x102 4.59x102 3.21x102 2.77x102 2.35x102 1.95x102 1.57x102 9.04x102 9.04x102 8.14x102 8.14x102 6.79x102 6.79x102 5.06x102 5.06x102 4.34x102 4.34x102 3.66x102 3.66x102 3.07x102 3.07x102 2.73x102 2.73x102 2.32x102 2.32x102

2.22x101 1.14x101 1.85x101 9.74x10 1.58x10

2 1

3.02x102 2.01x102 2.69x102 1.76x10 2.35x10

2 2

8.52x102 6.81x102 5.24x102 6.27x10 5.09x10

2 2

1.55x102 1.25x102 1.01x102 1.05x10 9.62x10

2 3

4.59x102 3.82x102 1.28x101 9.83x10 1.07x10

2 1

8.13x103 6.83x103 2.37x102 1.96x10 2.01x10

2 2

8.19x102 9.74x102 7.37x102 7.55x10 5.87x10

2 2

1.66x102 1.79x102 1.48x102 1.42x10 1.17x10

2 2

6.35x102 5.00x102 5.49x102 4.09x10 4.64x10

2 2

1.22x102 1.00x102 1.06x102 8.17x10 9.09x10

3 3

3.61x102 4.08x102 3.21x102 3.55x10 2.89x10

2 2

7.33x103 8.05x103 6.65x103 6.72x10 6.02x10

3 3

KA: Equivalent moment factor in the pitching direction KB: Equivalent moment factor in the yawing direction KC: Equivalent moment factor in the rolling direction

A-72

Table 8 Equivalent Factors (Types HSR, CSR, JR, and HRW)

KA, KB
Equivalent Load Calculation for a System Using One LM Block Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another

Model No. HSR8 HSR10 HSR12 HSR15 HSR20 HSR20L HSR25 HSR25L HSR30 HSR30L HSR35 HSR35L HSR45 HSR45L HSR55 HSR55L HSR65 HSR65L HSR85 HSR85L HSR100 HSR120 HSR150 HRW12 HRW14 HRW17 HRW21 HRW27 HRW35 HRW50 HRW60 CSR15 CSR20S CSR20 CSR25S CSR25 CSR30S CSR30 JR35 CSR35 JR45 CSR45 5.17x101 3.91x101 2.61x101 2.07x101 1.56x10
1

KC 7.89x102 6.14x102 4.25x102 3.39x102 2.59x10

2

A-II

2.47x101 1.96x101 1.65x101 1.33x101 1.00x101 1.00x101 8.70x102 8.70x102 7.14x102 7.14x102 5.88x102 5.88x102 4.44x102 4.44x102 3.77x102 3.77x102 3.17x102 3.17x102 2.35x102 2.35x102 2.00x102 1.75x102 1.39x102 1.22x101 8.86x102 6.06x102 5.41x102 4.76x102 2.90x102 2.22x102 1.67x102

1.21x101 1.30x101 1.01x101 1.12x101 8.63x10

2

2.18x102 2.33x102 1.93x102 1.97x102 1.64x10

2

9.77x102 7.55x102 7.82x102 6.04x102 6.52x10

2

1.77x102 1.47x102 1.39x102 1.16x102 1.19x10

2

5.03x102 5.21x102 4.03x102 4.34x102 3.35x10

2

9.86x103 1.05x102 8.07x103 7.84x103 6.54x10

3

3.02x102 2.74x102 2.52x102 3.01x101 2.40x10

1

5.93x103 5.43x103 5.01x103 5.29x102 4.43x10

2

2.40x101 2.01x101 1.51x101 1.01x101 7.55x10

2

3.79x102 3.29x102 2.69x102 1.84x102 1.40x10

2

6.71x102

1.24x102

KA: Equivalent moment factor in the pitching direction KB: Equivalent moment factor in the yawing direction KC: Equivalent moment factor in the rolling direction

A-73

Table 9 Equivalent Factors (Type GSR)

KA, KB
Equivalent Load Calculation for a System Using One LM Block Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another

Model No. GSR15T GSR15V GSR20T GSR20V GSR25T GSR25V GSR30T GSR35T Note:

KC 3.19x102 3.87x10 2.59x10 2.18x10 2.65x10 1.86x10 1.64x10

2 2

1.95x101 2.77x10 1.56x10 1.30x10 1.85x10 1.12x10 9.77x10

1 1

2.22x101
1 1 1 2

3.14x102
2 2 2 2

With type GSR, these values apply to cases in which two LM Guides are used. KA: Equivalent moment factor in the pitching direction KB: Equivalent moment factor in the yawing direction KC: Equivalent moment factor in the rolling direction

A-74

Table 10 Equivalent Factors (Types RSR, RSH, and NSR-TBC)

Model No. RSR3W RSR3WN RSR5 RSR5N RSR5W RSR5WN RSR7M RSR7N RSR7W RSR7WN RSR9K RSR9N RSR9WV RSR9WN RSR12V RSR12N RSR12WV RSR12WN RSR15V RSR15N RSR15WV RSR15WN RSR20V RSR20N NSR20TBC NSR25TBC NSR30TBC NSR40TBC NSR50TBC NSR70TBC RSH12V RSH9K RSH7 KA, KB
Equivalent Load Calculation for a System Using One LM Block Equivalent Load Calculation for a System Using Two LM Blocks Laid Over One Another

KC 1.23x101 9.69x102 1.04x101 9.63x102 8.62x10

2

A-II

9.10x101 5.99x101 8.80x101 5.78x101 5.78x10

1

3.17x101 3.17x101 3.85x101 3.85x101 1.96x101 1.96x101 2.74x101 2.74x101 1.40x101 1.40x101 2.15x101 2.48x101 1.09x101 1.18x101 1.74x101 1.93x101 8.51x102 8.95x102 1.41x101 1.52x101 4.85x102 4.98x102 1.09x101 1.18x101

4.09x101 5.54x101 3.41x101 3.91x101 2.58x10

1

7.02x102 8.18x102 5.89x102 6.02x102 4.85x10

2

4.40x101 2.54x101 2.89x101 2.05x101 3.52x10

1

6.05x102 4.75x102 5.03x102 3.90x102 5.42x10

2

2.31x101 2.48x101 1.72x101 2.77x101 1.82x10

1

4.08x102 4.45x102 3.34x102 4.42x102 3.18x10

2

1.95x101 1.36x101 1.83x101 1.21x101 2.29x10 2.01x10 1.85x10 1.39x10 9.99x10

1 1 1 1

3.58x102 2.67x102 2.90x102 2.28x102 2.68x10 2.27x10 1.93x10 1.60x10 1.15x10

2 2 2 2

1.24x101
2

1.42x102
2

KA: Equivalent moment factor in the pitching direction KB: Equivalent moment factor in the yawing direction KC: Equivalent moment factor in the rolling direction

A-75

4.3 Calculating the Applied Load

4.3.1 Setting Operating Conditions
To obtain the magnitude of an applied load and the service life in hours, the operating conditions of the LM system in question must first be set. The operating conditions should include: 1) Mass : m (kg) 2) Direction of the acting load 3) Location of the action point (e.g., center of gravity) : r2,r3, h1 (mm) 4) Location of the thrust developed : r4, h2 (mm) 5) LM system arrangement : r0,r1 (mm) (No. of systems and axes) 6) Velocity diagram Velocity : V (mm/s) Time constant : tn (s) Acceleration : n (mm/s2) (an = V ) tn 7) Duty cycle No. of reciprocating cycles per min : N1 8) Stroke length : rs 9) Mean velocity : Vm 10)Required service life in hours : L h

(min-1) (mm) (m/s) (h)

Gravitational acceleration: g = 9.8 m/s2

Duty cycle

Velocity

Velocity diagram

Fig. 34 Operating Conditions

A-76

4.3.2 Calculating the Applied Load

The load applied to the LM Guide varies with the external force exerted thereon, such as the location of the center of gravity of an object being moved, the location of the thrust developed, inertia due to acceleration and deceleration during starting and stopping, and the machining resistance. To select the correct type of LM Guide, the magnitude of applied loads must be determined in consideration of the above conditions. Using the following examples 1 through 10, we will now calculate the loads applied to the LM Guide. m : Mass (kg) rn : Distance (mm)
Example

Fn Pn PnT g V tn n

: External force : Applied load (radial and reverse-radial directions) : Applied load (horizontal direction) : Gravitational acceleration (g = 9.8 m/s2) : Velocity : Time constant : Acceleration (an = V ) tn

(N) (N)

A-II

(N) (m/s2)

(m/s2)

Operating conditions Install in a horizontal position. (Move the block.) Measure in uniform motion or at rest.

Equation for calculating applied load mg mgR mgR 2 3 P1 4 2R 2R 0 1 mg mgR mgR 2 3 P2 4 2R 2R 0

mg mgR mgR 2 3 P3 4 2R 2R 0 1 mg mgR mgR 2 3 P4 4 2R 2R 0 1

Install in an overhung horizontal position. (Move the block.) Measure in uniform motion or at rest.

mg mgR mgR 2 3 P1 4 2R 2R 0 1 mg mgR mgR 2 3 P2 4 2R 2R 0 1 mg mgR mgR 2 3 P3 4 2R 2R 0 1 mg mgR mgR 2 3 P4 4 2R 2R 0 1

A-77

Example

Operating conditions

Equation for calculating applied load mgR 2 P1P4 2R 0 mgR 3 P1TP4T 2R 0

Install in a vertical position. Measure in uniform motion or at rest.

[Ex.]

On the vertical axis of industrial robots In automatic painting machines and lifters.

Install on a wall. Measure in uniform motion or at rest.

mgR 3 P1P4 2R 1 mg mgR 2 P1TP4T 4 2R 0 mg mgR 2 P2TP3T 4 2R 0

[Ex.]

On cross rails Loader travel axis

A-78

Example

Operating conditions

Equation for calculating applied load mgR mg 1 P1P4max 2R 4 0 mg mgR 1 P1P4 min 4 2R 0

Move on the LM rail. Install in a horizontal position.

A-II

[Ex.]

XY table Sliding fork

Install in a laterally tilted position.

[Ex.]

NC lathe Carriage (for the lathe)

mgcos mgcosR 2 P1 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 1 mgsin mgsinR 2 P1T 4 2R 0 mgcos mgcosR 2 P2 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 1 mgsin mgsinR 2 P2T 4 2R 0 mgcos mgcosR 2 P3 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 1 mgsin mgsinR 2 P3T 4 2R 0 mgcos mgcosR 2 P4 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 1 mgsin mgsinR 2 P4T 4 2R 0

A-79

Example

Operating conditions

Equation for calculating applied load mgcos mgcosR 2 P1 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 0 mgsinR 3 P1T 2R 0 mgcos mgcosR 2 P2 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 0 mgsinR 3 P2T 2R 0 mgcos mgcosR 2 P3 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 0 mgsinR 3 P3T 2R 0 mgcos mgcosR 2 P4 4 2R 0 mgcosR mgsinh1 3 2R 2R 1 0 mgsinR 3 P4T 2R 0

Install in a longitudinally tilted position.

7
[Ex.] NC lathe Tool rest (for the lathe)

Install in a horizontal position subjected to inertia.

During acceleration mg m1R 2 P1P4 2R 4 0 mg m1R 2 P2P3 4 2R 0 P1TP4T m1R 3 2R 0

In uniform motion

8
P1P4 V n = tn

mg 4

During deceleration mg m3R 2 P1P4 4 2R 0 mg m3R 2 P2P3 4 2R 0

Velocity

Time (s) Velocity diagram

P1TP4T

m3R 3 2R 0

A-80

Example

Operating conditions

Equation for calculating applied load During acceleration P1P4 m(g1)R 2 2R 0 m(g1)R 3 2R 0

Install in a vertical position subjected to inertia.

A-II

P1TP4T

In uniform motion P1P4 mgR 2 2R 0

9
V n = tn

mgR 3 P1TP4T 2R 0 During deceleration P1P4 m(g3)R 2 2R 0 m(g3)R 3 2R 0

Velocity

Time Velocity diagram

P1TP4T

Install in a horizontal position subjected to external force.

Under force F1 F1R 5 P1P4 2R 0 F R P1TP4T 1 4 2R 0 Under force F2 F F R P1 P4 2 2 2 4 2R 0

10

F F R P2 P3 2 2 2 4 2R 0 Under force F3 [Ex.] Drill unit Milling machine Lathe Machining center and similar cutting machine F R P1P4 3 3 2R 1 F F R P1T P4T 3 3 2 4 2R 0 F F R P2T P3T 3 3 2 4 2R 0

A-81

4.4 Calculating the Equivalent Load

The LM Guide can bear loads and moments in four directions, including a radial load (PR), reverse-radial load (PL), and lateral load (PT), simultaneously. Applied loads include the following:

PR : Radial load PL : Reverse-radial load PT : Lateral load

MA : Moment in the pitching direction MB : Moment in the yawing direction MC : Moment in the rolling direction

Fig. 35 Directions of the Load and Moment Exerted on the LM Guide

Equivalent load PE
When more than one load (e.g., radial and lateral loads) is exerted on the LM Guide simultaneously, the service life and static safety factors should be calculated using equivalent load values obtained by converting all loads involved into radial, lateral, and other loads involved.

Calculation example for LM Guide type HSR The equivalent load when a radial load (PR) and a lateral load (PT) are applied simultaneously can be obtained using the following equation: PE (equivalent load ) = PR + PT PR : Radial load PT : Lateral load

Equivalent-load equation
The equivalent-load equations for the LM Guide differ by guide type. For details, see the relevant sections.

Fig. 36 LM-Guide Equivalent Load

A-82

4.5 Static Safety Factor

To calculate a load exerted on the LM Guide, the mean load necessary for calculating the service life and the maximum load necessary for calculating the static safety factor must be obtained in advance. In a system that is subjected to frequent starts and stops and is placed under machining loads, and one upon which a moment due to an overhang load is forcefully exerted, an excessive load greater than expected may develop. When selecting the correct type of LM Guide for your purpose, be sure that the type you are considering can bear the maximum possible load, both when stopped and when in operation. The table below specifies the standard values for the static safety factor.

A-II

Table 11 Standard Values for the Static Safety Factor (fs)

Machine used Ordinary industrial machine Machine tool Loading conditions fs lower limit

Receives no vibration or impact 1.0~1.3 Receives vibration and impact

2.0~3.0

Receives no vibration or impact 1.0~1.5 Receives vibration and impact

2.5~7.0

For large radial loads For large reverse-radial loads For large lateral loads

f H f T f C C0 f S PR f H f T f C C 0L f S PL f H f T f C C 0T f S PT

fs C0 C0L C0R PR PL PT fH fT fC

: : : : : : : : : :

Static safety factor Basic static-load rating (radial) (N) Basic static-load rating (reverse-radial) (N) Basic static-load rating (lateral) (N) Calculated load (radial) (N) Calculated load (reverse-radial) (N) Calculated load (lateral) (N) Hardness factor (see Fig. 37, page A-86) Temperature factor (see Fig. 38, page A-86) Contact factor (see Table 13, page A-87)

A-83

4.6 Calculating the Mean Load

An industrial robot grasps a workpiece using its arm as it advances, moving further under the load. When it returns, the arm has no load other than its tare. In a machine tool, LM blocks receive varying loads depending on the host-system operating conditions. The service life of the LM Guide, therefore, should be calculated in consideration of such fluctuations in load. The mean load (Pm) is the load under which the service life of the LM Guide becomes equivalent to that under the varying loads exerted on the LM blocks. The basic equation for calculating the mean load is as follows:
n 3 1 3 Pm (Pn Ln) L n=1

where Pm : mean load (N) Pn : varying load (N) L : total running distance (mm) Ln : running distance under load Pn (mm) Note: This equation and equation (1) below apply in cases in which the rolling elements are balls.

1) For loads that change stepwise

Pm
3 1 3 3 3 P1 L1P2 L2 Pn Ln(1) L

where Pm Pn L Ln

: : : :

mean load varying load total running distance running distance under load Pn

(N) (N) (mm) (mm)

Load P

Total running distance L

A-84

2) For loads that change monotonously

1 Pm Pmin 2Pmax (2) 3 where Pmin : minimum load Pmax : maximum load (N) (N)

A-II

Load P

Total running distance L

3) For loads that change sinusoidally

a) Pm 0.65Pmax (3) b) Pm 0.75Pmax (4)

Load P

Total running distance L

Load P

Total running distance L

A-85

Mean Load Calculation Example (1) Horizontal Installations Subjected to Acceleration and Deceleration 1. Operating conditions

v 2 (m/s ) t1

2. Load applied to the LM block

1) In uniform motion mg P1 4 mg P2 4 mg P3 4 mg P4 4 2) During acceleration 3) During deceleration Pd1 P1

1R2 m Pa1 P1 2 R 0 m R 1 2 Pa2 P2 2 R 0 m 1R2 Pa3 P3 2 R 0 m R 1 2 Pa4 P4 2 R 0

1R2 m 2 R 0 m R 1 2 Pd2 P2 2 R 0 m 1R2 Pd3 P3 2 R 0 m R 1 2 Pd4 P4 2 R 0

3. Mean load
3 1 3 3 3 Pm1 Pa1 s1P1 s2Pd1 s3 R S 3 1 3 3 3 Pm2 Pa2 s1P2 s2Pd2 s3 R S 3 1 3 3 3 Pm3 Pa3 s1P3 s2Pd3 s3 R S 3 1 3 3 3 Pm4 Pa4 s1P4 s2Pd4 s3 R S

Note:

Pan and Pdn represent loads exerted on the LM block. The suffix n indicates the block number in the diagram above.

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Mean Load Calculation Example (2) Installations on Rails 1. Operating conditions

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2. Load applied to the LM block

1) At the left of the arm R mg mg 1 PR1 2 R 4 0 mg mgR 1 PR2 4 2 R0 mg mgR 1 PR3 4 2 R0 mg mgR 1 PR4 4 2 R0 2) At the right of the arm mg mgR 2 Pr1 2 R 4 0 mg mgR 2 Pr2 4 2 R 0 mg mgR 2 Pr3 4 2 R 0 mg mgR 2 Pr4 4 2 R 0

3. Mean load
1 Pm1 2PR1 Pr1 3 1 Pr2 Pm2 2 PR2 3 1 Pr3 Pm3 2 PR3 3 1 Pr4 Pm4 2PR4 3 Note: PRn and Prn represent loads exerted on the LM block. The suffix n indicates the block number in the diagram above.

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4.7 Service-Life Equation

The service life of the LM Guide can be obtained using the following equation: fHfTfC C 3 L 50 fW PC where L : nominal life (km) (total distance that can be traveled by at least 90% of a group of LM Guides operated under the same conditions) C : basic dynamic-load rating (N) PC : calculated load (N) fH : hardness factor (see Fig. 37, page A-86) fT : temperature factor (see Fig. 38, page A-86) fC : contact factor (see Table 12, page A-87) fW : load factor (see Table 13, page A-87) Once nominal life L is obtained using this equation, the LM-Guide service life can be calculated using the following equation, if the stroke length and the number of reciprocating cycles are constant: Lh L10 2 R S n1 60 (h) (mm) (min-1)
6

fH: Hardness factor

To ensure achievement of the optimum load-bearing capacity of the LM Guide, the raceway hardness must be 58 to 64 HRC. At a hardness below this range, the basic dynamic- and static-load ratings decrease. The ratings must therefore be multiplied by the respective hardness factors (fH). As the LM Guide has sufficient hardness, fH for the LM Guide is 1.0 unless otherwise specified.

Hardness factor fH

Raceway hardness (HRC)

where Lh : service life in hours rs : stroke length n1 : No. of reciprocating cycles per min

Fig. 37 Hardness Factor (fH)

fT: Temperature factor

For LM Guides used at ambient temperatures over 100C, a temperature factor corresponding to the ambient temperature, selected from the diagram below, must be taken into consideration. In addition, please note that the selected LM Guide itself must be a model with high-temperature specifications.

Temperature factor fT

Raceway temperature

Fig. 38 Temperature Factor (fT)

Note: When used at ambient temperatures higher than 80C, the seals, end plates, and ball cages used must be changed to those with high-temperature specifications.

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fC: Contact factor

When multiple LM blocks are used laid over one another, moments and mounting-surface precision will affect operation, making it difficult to achieve uniform load distribution. For LM blocks used laid over one another, multiply the basic load rating (C or C0) by a contact factor selected from the table below.

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Table 12 Contact Factor (fC)

No. of blocks used 2 3 4 5 6 or more In normal use Note: Contact factor fC 0.81 0.72 0.66 0.61 0.6 1.0

When the non-uniform load distribution can be predicted, as in a large system, consider using a contact factor.

fW: Load factor

In general, machines in reciprocal motion are likely to cause vibration and impact during operation, and it is particularly difficult to determine the magnitude of vibration that develops during high-speed operation, as well as that of impact during repeated starting and stopping in normal use. Therefore, where the effects of speed and vibration are estimated to be significant, divide the basic dynamic-load rating (C) by a load factor selected from the table below, which was compiled based on THKs extensive experience.

Table 13 Load Factor (fw)

Vibration and impact

Velocity (V) Very low V0.25m/s Low 0.25<V1.0m/s Medium 1.0<V2.0m/s High V>2.0m/s

fW 1~1.2

Very slight

Slight

1.2~1.5

Moderate

1.5~2.0

Strong

2.0~3.5

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4.8 Calculation Examples

4.8.1 Example 1 (Horizontal installations subjected to high acceleration and deceleration) 1. Operating conditions
Model number: HSR35LA2SS + 2500LP-II (Basic dynamic-load rating : C = 50.2 kN) (Basic static-load rating : C0 = 81.4 kN) Mass : m1 = 800 kg m2 = 500 kg Velocity : V = 0.5 m/s Time : t1 = 0.05 s t2 = 2.8 s t3 = 0.15 s Acceleration : 1 = 10 m/s2 3 = 3.333 m/s2 Stroke : rs = 1450 mm Distance : r0 = 600 mm r1 = 400 mm r2 = 120 mm r3 = 50 mm r4 = 200 mm r5 = 350 mm

Gravitational acceleration: g = 9.8 (m/s2)

Fig. 39 Operating Conditions

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2. Load Exerted on the LM Guide by the LM Block

Calculate the load that each LM block exerts.

Load applied in lateral direction Ptran m R

1 1 3 Pt Ra1 2 R 0 m11R 3 Pt Ra2 2 R 0 m11R Pt Ra3 3 2 R 0 m11R Pt R a4 3 2 R 0

333.3 N 333.3 N 333.3 N 333.3 N

1) In uniform motion Load applied in radial direction Pn

P1 m1gR m2g m1g m1gR 3 2 2 R 4 4 2 R 1 0 2891 N P2 m1gR m2g m1g m1gR 3 2 2 R 4 4 2 R 1 0 4459 N P3 m1gR m2g m1g m1gR 3 2 2 R 4 4 2 R 1 0 3479 N P4 m1gR m2g m1g m1gR 3 2 2 R 4 4 2 R 1 0 1911 N

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3) During deceleration to the left Load applied in radial direction Prdn

m 3R m23R 5 4 P R d1 P1 1 2 R 2 R 0 0 3946.6 N m 3R m 3R 4 5 2 P Rd2 P2 1 2 R 2 R 0 0 3403.4 N m23R m13R 4 5 P Rd3 P3 2 R 2 R 0 0 2423.4 N m23R m13R 4 5 P Rd4 P4 2 R 2 R 0 0 2966.6 N

2) During acceleration to the left Load applied in radial direction Pran m R m R

1 1 5 P Ra1 P1 2R 0 2 1 4

2R 0

275.6 N m21R m11R 4 5 P Ra2 P2 2R 2R 0 0 7625.6 N m11R m 1R 5 4 P Ra3 P3 2 2R 2R 0 0 6645.6 N m11R m21R 5 4 P Ra4 P4 2R 2R 0 0 1255.6 N

Load applied in lateral direction Ptrdn m R

1 3 3 Pt Rd1 2 R 0 m13R 3 Pt Rd2 2 R 0 m13R 3 Pt Rd3 2 R 0 m13R 3 Pt Rd4 2 R 0

111.1 N 111.1 N 111.1 N 111.1 N

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4) During acceleration to the right Load applied in radial direction Pran m R m R

1 1 5 Pra1 P1 2 R0 2 1 4

Load applied in lateral direction Ptrdn m R

1 3 3 111.1 N Ptrd1 2 R0 m13R 3 Ptrd2 111.1 N 2 R0 m13R 3 Ptrd3 111.1 N 2 R0 m13R 3 Ptrd4 111.1 N 2 R0

2 R0

6057.6 N m11R m 1R 5 4 2 Pra2 P2 2 R0 2 R0 1292.4 N m11R m 1R 5 4 2 Pra3 P3 2 R0 2 R0 312.4 N m11R m 1R 5 4 2 Pra4 P4 2 R0 2 R0 5077.6 N

3. Combined radial and thrust load 1) In uniform motion

PE1 P12891 N PE2 P24459 N PE3 P33479 N PE4 P41911 N

Load applied in lateral direction Ptran m R

1 1 3 Ptra1 2 R 0 m11R 3 Ptra2 2 R 0 m11R 3 Ptra3 2 R 0 m11R 3 Ptra4 2 R 0

2) During acceleration to the left

PERa1PRa1PtRa1 608.9 N PERa2PRa2PtRa27958.9 N PERa3PRa3PtRa36978.9 N PERa4PRa4PtRa41588.9 N

333.3 N 333.3 N 333.3 N 333.3 N

3) During deceleration to the left

PERd1PRd1PtRd14057.7 N PERd2PRd2PtRd23514.5 N PERd3PRd3PtRd32534.5 N PERd4PRd4PtRd43077.7 N

5) During deceleration to the right Load applied in radial direction Prdn

m13R m23R 5 4 Prd1 P1 2 R0 2 R0 1835.4 N m13R m23R 5 4 Prd2 P2 2 R0 2 R0 5514.6 N m13R m23R 5 4 Prd3 P3 2 R0 2 R0 4534.6 N m13R m23R 5 4 Prd4 P4 2 R0 2 R0 855.4 N

4) During acceleration to the right

PEra1Pra1Ptra16390.9 N PEra2Pra2Ptra21625.7 N PEra3Pra3Ptra3 645.7 N PEra4Pra4Ptra45410.9 N

5) During deceleration to the right

PErd1Prd1Ptrd11946.5 N PErd2Prd2Ptrd25625.7 N PErd3Prd3Ptrd34645.7 N PErd4Prd4Ptrd4 966.5 N

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4. Static Safety Factor

As shown above, it is during acceleration of the 2nd LM Guide to the left when the maximum load is exerted on the LM Guide. Therefore, the static safety factor (fS) becomes as follows: C0 81.410 fS 10.2 PERa2 7958.9
3

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5. Mean Load Pmn

The mean load on each LM block is as follows:
3 1 3 3 3 3 3 3 a1 S1PE1 S2PER d1 S3PEra1 S1PE1 S2PErd1 S3 Pm1 PER 2 R S 3 3 3 3 3 3 3 1 608.9 12.52891 14004057.7 37.56390.9 12.52891 14001946.5 37.5 2 1450

2940.1 N
3 3 3 3 3 3 3 1 a2 S1PE2 S2PER d2 S3PEra2 S1PE2 S2PErd2 S3 Pm2 PER 2 R S 3 1 7958.9312.54459314003514.5337.51625.7312.54459314005625.7337.5 21450

4492.2 N
3 3 3 3 3 3 3 1 a3 S1PE3 S2PER d3 S3PEra3 S1PE3 S2PErd3 S3 Pm3 PER 2 R S 3 1 6978.9312.53479314002534.5337.5645.7312.53479314004645.7337.5 21450

3520.4 N
3 3 3 3 3 3 3 1 a4 S1PE4 S2PER d4 S3PEra4 S1PE4 S2PErd4 S3 Pm4 PER 2 R S 3 3 3 3 3 3 3 1 1588.9 12.51911 14003077.7 37.55410.9 12.51911 1400966.5 37.5 21450

1985.5 N

6. Nominal life Ln
From these calculations, 20,600 km (the running distance of the 2nd LM block) is obtained as the service life of the LM Guide used in a machine or system under the operating conditions specified below. From the service-life equation for the LM Guide: C 3 L1 50 73700 km fW Pm1 C 3 L2 50 20600 km fW Pm2 C 3 L3 50 43000 km fW Pm3 C 3 L4 50 239000 km fW Pm4 fW 1.5

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4.8.2 Example 2 (Vertical installations) 1. Operating conditions

Model number: HSR25A2SS + 1500L-II (Basic dynamic-load rating : C = 19.9 kN) (Basic static-load rating : C0 = 34.4 kN) Mass : m0 = 100 kg m1 = 200 kg m2 = 100 kg Distance : r0 = 300 mm r1 = 80 mm r2 = 50 mm r3 = 280 mm r4 = 150 mm r5 = 250 mm

Stroke : rS = 1000 mm The mass (m 0 ) is applied during ascent only. It is removed during descent. Gravitational acceleration: g = 9.8 (m/s2)

Fig. 40 Operating Conditions

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2. Load Exerted on the LM Guide by the LM Block 1) During ascent Load exerted on the LM Guide in radial direction Pun by the LM block
Pu1 m1gR m2gR m0gR 4 5 3 2 R0 2 R 2 R 0 0 1355.6 N Pu2 m1gR m2gR m0gR 4 5 3 2 R 2 R 2 R0 0 0 1355.6 N Pu3 m0gR m1gR m2gR 3 4 5 2 R0 2 R 2 R 0 0 1355.6 N Pu4 m0gR m1gR m2gR 3 4 5 2 R0 2 R 2 R 0 0 1355.6 N

2) During descent Load exerted on the LM Guide in radial direction Pdn by the LM block

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m1gR m2gR 4 5 898.3 N Pd1 2 R 2 R 0 0 m1gR m2gR 4 5 Pd2 898.3 N 2 R 2 R 0 0 m1gR m2gR 4 5 Pd3 898.3 N 2 R 2 R 0 0 m1gR m2gR 4 5 Pd4 898.3 N 2 R 2 R 0 0

Load exerted on the LM Guide in lateral direction Ptdn by the LM block

m1gR m2gR 2 2 245 N Ptd1 2 R 2 R 0 0 m1gR m2gR 2 2 Ptd2 245 N 2 R0 2 R 0 m1gR m2gR 2 2 Ptd3 245 N 2 R 2 R 0 0 m1gR m2gR 2 2 Ptd4 245 N 2 R 2 R 0 0

Load exerted on the LM Guide in lateral direction Ptun by the LM block

m1gR m2gR m0gR 2 2 1 Ptu1 2 R0 2 R0 2 R0 375.7 N m1gR m2gR m0gR 2 2 1 Ptu2 2 R0 2 R0 2 R0 375.7 N m1gR m2gR m0gR 2 2 1 Ptu3 2 R0 2 R0 2 R0 375.7 N m1gR m2gR m0gR 2 2 1 Ptu4 2 R0 2 R0 2 R0 375.7 N

3. Combined radial and thrust load 1) During ascent

PEu1Pu1Ptu11731.3 N PEu2Pu2Ptu21731.3 N PEu3Pu3Ptu31731.3 N PEu4Pu4Ptu41731.3 N

2) During descent
PEd1Pd1Ptd11143.3 N PEd2Pd2Ptd21143.3 N PEd3Pd3Ptd31143.3 N PEd4Pd4Ptd41143.3 N

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4. Static Safety Factor

The static safety factor (f s) of a machine or system under the operating conditions shown above becomes the following: 34.410 C0 fS 19.9 PEu2 1731.3
3

5. Mean Load
The mean load on each LM block is as follows:
3 1 3 3 Pm1 PEU1 R SPEd1 R S 1495.1 N 2 R S 3 1 3 3 Pm2 PEU2 R SPEd2 R S 1495.1 N 2 R S 3 1 3 3 Pm3 PEU3 R SPEd3 R S 1495.1 N 2 R S 3 1 3 3 Pm4 PEU4 R SPEd4 R S 1495.1 N 2 R S

6. Nominal life Ln
From the service-life equation for the LM Guide: C 3 L1 50 68200 km fW Pm1 C 3 L2 50 68200 km fW Pm2 C 3 L3 50 68200 km fW Pm3 C 3 L4 50 68200 km fW Pm4 fW1.2 From these calculations, 68,200 km is obtained as the service life of the LM Guide used in a machine or system under the operating conditions specified above.

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