So, considering the frictional component of the torque, this is given by:

, , :
1. Torque = F * p/(2 * e)
F= force in Newtons ( Newtons).
P= screw pitch in metres.
e= efficiency ().
Cutting force is for:
Wood 5N
Alloy 20N
Steel 75N
The frictional forces are calculated from the mass of the load and the friction coefficient:
:
2. F = M * g * Fc
g= gravity, which can be taken as 10 ( 10 ).
Typical static friction coefficients for common sliding mechanisms are:
:
0.003
0.01
0.05
0.16
1.10

for
for
for
for
for

a ball slide,
low-end ball races on aluminum channel,
teflon on steel,
bronze on steel
cast iron on cast iron.

, 0,2 .
router 20kg
( 2) 20 * 10 * .01 = 2.
5 7N,
, ( 1) :
T = 7 * .003 / (2 * .3) = 0.01nm

The second calculation is the inertia of the moving item, expressed in terms of the inertia
seen by the motor. The symbol we use for this is J(load) and it is calculated thus:
,
. J
() :

3. J(load) = mass(load) * pitch2 /(2 * )2

mass= in Kg
pitch= in metres gives inertia in kg m2
Kg, kg m2

*mass =
*load =

In our example we will use a trapezoidal TR12x3 single start screw to move this 20Kg
gantry, so from equation 3.
J(load) = 20 * 0.0032 /40 = 4.5 x 10E-06 kgm2 (the 40 is a good approximation to
2pi squared). To this we add the inertia of the screw, which is given by:
TR12x3
20Kg, 3.
J () = 20 * 0.0032 /40 = 4,5 x 10E-06 kgm2
( 40 2 ).
, :
4. J(screw) = 1/2 Mass * radius2
where the mass is given by:
5. mass(screw) = * radius2 * length * density
*length=
*density=
In our worked example a 12mm screw 800mm long has a mass of
3.1416 * .0062 * .8 * 7800 = 0.71kg and therefore an inertia of
J(screw) = 1/2 * 0.71 * .0062 = 1.28 x 10E-05, so the screw has a higher inertia than
the load!
The total inertia to be overcome is the sum of
J(load) and J(screw) = 1.72x10E-05 kgm2. (Note the spreadsheet also adds in the
rotor inertia of the motor).
12mm 800
3,1416 * .0062 * .8 * 7800 = 0.71kg ,
J () = 1/2 * 0,71 * .0062 = 1.28 x 10-05,
!

J () J () = 1.72x10E-05 kgm2. (. , ,
)

Next we have to decide how fast we want the gantry to move under load. Typically for a
wood router anything from 500 to 1000mm/min would be suitable, for cutting aluminium
you might want to look at 1800mm/min or better when using small cutting tools. The
maximum traverse speed is given by:

. router 500 1000mm/min
, 1800mm/min
.
:
6. Smax = max motor rpm * screw pitch
In many cases the speed will be determined by the available drivers and the motor. Few
motors will give much torque above about 1000steps/sec on low voltages (24v being the
typical supply used), so the maxium speed we could reasonably expect under load for a
200step motor is going to be 1000/200 * 60 * .003 = 0.9m/min or 900mm/min. At this
speed the angular velocity of the screw will be:
,
.
1000steps/sec (24v ),
maxium
200step 1000/200 * 60 * 0.003 = 0.9m/min 900mm/min.
:
7. w = 2 * * screw revs/sec
In our example this becomes 6.28 * 1000/200 = 31.4 rads/sec
Rads/sec2