Ball Spline Technical Information

Ball Spline

Technical Information

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The specifications in this catalog are subject to change without notification. ©2022 FORM P99TE01-2204
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Ball Spline Technical Information

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Ball Spline

Information Index

1. Introduction of Ball Splines ................................................................................ 2

2. Description of ball spline specifications ........................................................... 5

3. Selecting procedure of ball spline ..................................................................... 6

3.1 Diagram of the procedure for selecting the ball spline ........................................................ 6

3.2 Strength design of the spline shaft ....................................................................................... 7

3.3 Predicting life ........................................................................................................................ 13

4. Selecting preload .............................................................................................. 19

4.1 Conditions and benchmarks for use in the selection of preload .......................................... 20

5. Selecting accuracy ............................................................................................ 21

5.1 Linear ball splines ................................................................................................................ 21

5.2 Compound ball splines ......................................................................................................... 24

6. Dimensions of the ball spline ............................................................................ 25

6.1 Linear ball spline RS, FS, FSR types ..................................................................................... 25

6.2 Compound ball spline FBR, FBL types ................................................................................. 27

7. Design examples ............................................................................................... 28

7.1 Inspection manual for the spline shaft design ...................................................................... 28

7.2 Position of the keyway and flange hole of the spline nut ...................................................... 29

8. Installation steps .............................................................................................. 30

9. Option of ball spline .......................................................................................... 32

10. Precautions for use ......................................................................................... 33

2 P99TE01-2204

1. Introduction of Ball Splines

Linear ball splines

(1) Cylinder type (RS type)

(2) Flange type (FS type )

(3) Rotary type (FSR type)

 P99TE01-2204 3

Product structure

Spline nut

Dustproof ring

Spline shaft

Steel ball retainer

Steel ball
RS type
Spline nut

Outer ring
Spline nut
Spline shaft
Dustproof ring

Spline shaft
Steel ball
Steel ball retainer

Dustproof ring Steel ball retainer

Steel ball

FS type FSR type

Figure 1-1. Product structure diagram of the linear ball spline

Features
The HIWIN ball spline is a rolling guide component consisting of a spline nut, a spline shaft, steel balls and a
retainer. Rolling the steel balls in an infinite rolling cycle between the spline nut and the spline shaft allows
the spline nut to move linearly along the spline shaft with high precision. The steel ball on the ball spline is of
angular contact structure and can withstand radial loads and torsional loads. The spline nut and the outer ring are
designed as all-in-one, which enables the ball spline to achieve a simplified structure.

The ball spline is equipped with 3 sets of balls in a face-to-face angular contact design. The balls are continuously
moved in a complete cycle by means of a steel ball retainer. The optimized design of the retainer enables the
guidance with high speed, high acceleration and deceleration. In addition, the encapsulation of the ball by the
retainer makes it possible to withdraw the spline nut from the spline shaft without the balls falling out.

• Transmittable torque capacity

Compared with linear bearings, the ball in the rolling groove is in angular contact, so the spline nut and the spline
shaft can move in relation to each other to achieve the function of transmitting torque.

• All-in-one structure
The spline nut and the outer ring are made in all-in-one structure to achieve high precision and compact design.

• Easy to install
The ball spline retainer prevents the balls from falling out even if the spline shaft is removed from the spline nut.
• Lubricant circuit
By optimizing the design of the lubricant circuit, the lubrication grease is directed to where the balls circulation
to improve the lubrication effect and increase the service life.
4 P99TE01-2204

Compound ball splines

• Ball screw spline (FBR type)

Product structure

Outer ring

Dustproof ring
Steel ball

Steel ball retainer

Outer ring
Steel ball retainer
Dustproof ring

Spline shaft
(including threads)

Steel ball
Ball spline nut

Endcap

Ball screw nut

Figure 1-2. Product structure diagram of the compound ball spline

Features
The compound ball spline consists of a ball spline nut, a ball screw nut, a spline shaft, steel balls and retainers.
Through the interaction of the two nuts on the spline, three modes of operation (linear, rotary and spiral), can be
integrated on one shaft.
 P99TE01-2204 5

2. Description of ball spline specifications

Description of specifications - RS, FS, FSR

SP - 20 - 2 FS - 400 - 500 - C - S
Collective name for
ball spline products Spline shaft
marking
Spline shaft outer diameter
S: Solid shaft
None: Hollow shaft
Number of spline nuts on 1 shaft
None: 1 pc Accuracy
C: Normal grade
Nut type H: High grade
RS: Cylinder type P: Precision grade
FS: Flange type Total length of spline shaft
FSR: Rotary type (Unit mm)

Length of straight groove

(Unit mm)

Description of specifications - FBR, FBL

SP - 20 - FBR - 400 - 500 - S
Collective name for ball Spline shaft marking
spline products S : Solid shaft
None: Hollow shaft
Spline shaft outer diameter

Nut type
Total length of spline shaft
FBR : Right rotation
(Unit mm)
FBL : Left rotation

Length of straight groove

(Unit mm)
6 P99TE01-2204

3. Selecting procedure of ball spline

3.1 Diagram of the procedure for selecting the ball spline

Step 1 Confirmation of conditions

Stroke Length: Ls, velocity: V, load capacity: W, installation space, operating
frequency, required life, distance between 2 nuts, assembly direction.

Step 2 Selecting type

Select the type and dimensions based on the application conditions. Refer to the
classification table.

Step 3 Design of spline strength

Decide the expected diameter, length, fixing method of the spline shaft,
allowable load of the spline shaft, displacement of the spline shaft (bending, torsion)

Step 4 Selecting type

Calculate the rated life from the life calculation formula for load capacity.

Does it meet the use requirements?

NO
Yes

Step 5 Selecting preload

Step 6 Environmental requirements

Step 7 Special request

Verify the grease, lubrication method, surface treatment, and dustproof design.
 P99TE01-2204 7

3.2 Strength design of spline shaft

The ball spline shaft is a composite shaft capable of withstanding radial loads and torsions. In case of
high loads or torsions, it is necessary to take into account the strength of the spline shaft.

Spline shaft subjected to bending

When bending moments act on the spline shaft of the ball spline, the most suitable spline diameter can be
calculated according to the following formula (1).

Z＝
M
M＝ σ · Z and 1
σ
M: Maximum bending moment acting on spline shaft (N-mm)

σ : Allowable bending stress of spline shaft (98N/mm2)

Z : Section modulus of the spline shaft (5.77x102 mm3 for specification SP20)

M: Bending moment

Figure 3-1. Schematic diagram of splines subjected to bending moments

Spline shaft subjected to torsion

When torsions act on the ball spline shaft, the most suitable spline diameter can be calculated according to the
following formula (2).

T＝τa．Zp Zp ＝
T
and 2
τa
T ＝ Maximum torque acting on spline shaft (N-mm)
τa ＝ Allowable torsion stress of spline shaft (49N/mm ) 2

Zp ＝ Polar section modulus of the spline shaft (specification 20 is 1.15 x 10 3

mm3)

T: Torque

Figure 3-2. Schematic diagram of splines subjected to torques

8 P99TE01-2204

Spline shaft subjected to bending and torsion simultaneously

When the spline shaft of a ball spline is subjected to both bending moment and torque, the diameter of the spline
shaft shall be calculated separately, with the equivalent bending moment (Me) and equivalent torque (Tₑ) taken into
account and the larger outer diameter of the spline shaft is taken as the diameter of the spline shaft.

Equivalent bending moment:

Ｍ＋ Ｍ² ＋Ｔ² Ｍ Ｔ
Ｍₑ = = 1+ １＋（ ) 3
２ Ｍ

Ｍₑ＝σ．Z

Equivalent torque:

Ｔ
Te＝ Ｍ + Ｔ = M × １＋（ Ｍ) 4

Te＝τₐ．Zp

Stiffness of the spline shaft

Stiffness of the spline shaft is indicated by the torsional angle of the spline shaft of length 1 m, which is limited to
about 0.25°.

Ｔ ．Ｌ Torsional angle ．1000

＝57.3ｘＧ． 5 Stiffness of the spline shaft =
Unit length
＝ ＜

A
θ
B

B'

Figure 3-3. Schematic diagram of stiffness of the spline shaft

: Torsional angle (°)

L : Length of spline shaft (mm)

G : Transverse elastic modulus (7.9x10 N/mm )
4 2

l: Unit length(1000mm)
Ip : Polar moment of inertia (specification 20 is 1.1 x104mm )
4 4
 P99TE01-2204 9

Deflection and deflection angle of the spline shaft

The calculation table of the Deflection and deflection angle of the spline shaft of the ball spline is based on the
calculation formula suitable for its stress conditions.
Table 3-1. Calculation of Deflection and deflection angle

Calculation for-
Support Calculation formula
Conditions of use mula of deflec-
method of deflection
tion angle

l/2

P = 00
=
Both ends ²²
are free =
= ²²
48
48 =
=
δmax

16
16

i2
l

l/2

P
Both ends ³³ ==00
are fixed ==
192
192 ==00
δmax

p
δmax

Both ends 55pp pp³³

are free
== ==
384 24
i2

l 384 24

p
Both ends
pp = 00
δmax

are fixed =
= =
384
384
l
10 P99TE01-2204

Table 3-2. Calculation of Deflection and deflection angle

Calculation for-
Support Calculation formula
Conditions of use mula of deflec-
method of deflection
tion angle

δmax
² ²
Either end is ³ ³ = =
fixed = = 2 2
3 3
= 0= 0
l

i1
p

δmax
Either end is
p ³p ³
p p = =
fixed = = 6 6
8 8
l = 0= 0
i1

M0
l/2
δmax

Neither
= =
√3 √3 ² ² 12 12
end is fixed = =
δmax

216216
= =
i1

24 24
i2

M0
l/2
δmax

Both ends ² ² = =
= = 16 16
δmax

are fixed i1 216216

= 0= 0
l

δmax : Maximum deflection (mm) 𝑖2 : Deflection angle at support point

M0 : Torque (N-mm) P : Concentrated load(N)

l : Span (mm) p : Uniform load(N/mm)

I : Geometric moment of inertia (mm4) E : Young's modulus 2.06x105(N/mm2)

𝑖1 : Deflection angle at support point

 P99TE01-2204 11

Cross-section characteristics of spline shafts

Table 3-3. Characteristics of the spline shaft cross-section

I: Geometrical Z: Modulus lp: Polar moment of Zp: Polar section

Nominal diameter moment of inertia section inertia modulus
mm4 mm3 mm4 mm3

Solid shaft 1.32 x103 2.09 x102 2.7 x103 4.19 x102
13
Hollow shaft 1.29 x103 2.0 x102 2.63 x103 4.09 x102

Solid shaft 3.09x103 3.90x102 6.18x103 7.80x102

16
Hollow shaft 2.37x103 2.99x102 4.74x103 5.99x102

Solid shaft 7.61x103 7.67x102 1.52x104 1.53x103

20
Hollow shaft 5.72x103 5.77x102 1.14x104 1.15x103

Solid shaft 1.86x104 1.50x103 3.71x104 2.99x103

25
Hollow shaft 1.34x104 1.08x103 2.68x104 2.16x103

Solid shaft 5.01x104 3.15x103 9.90x104 6.27x103

32
Hollow shaft 3.64x104 2.29x103 7.15x104 4.53x103

Critical velocity of the spline shaft

When the ball spline shaft is rotated by the transmitting power, if the rotation speed of the spline shaft increases
to approach the resonance point, the spline will be in vibration. Therefore, the maximum rotation speed must
be limited below the critical velocity without resonance. The critical velocity can be obtained from the following
formula (6). (The safety coefficient is considered to be 0.8.) Above the resonance point, or in case of use near the
resonance point, the diameter of the spline shaft must be reviewed.

• Critical velocity

× ×
= × × 0.8 6
× ² ×

Nc : Critical velocity(min-1) λ : Dependent on the installation method

lb : Distance between installation surfaces (mm) 1. Fixed - free, λ = 1.875, as in Figure 2-4.1.

E : Young's modulus (2.06x10⁵ N/mm²) 2. Supported - Supported, λ = 3.142, as in Figure 2-4.2.

I : Minimum geometric moment of inertia of the shaft(mm ) 4 3. Fixed - Supported, λ = 3.927, as in Figure 2-4.3.

4. Fixed - Fixed, λ = 4.73, as in Figure 2-4.4.

Ｉ＝ d= Small diameter (mm)
γ : Density (specific center of gravity)
(7.85x10⁵kg/mm³)

A= d² d: Small diameter (mm)

A : Cross-section area of the end face of the spline shaft (mm2)
12 P99TE01-2204

Fixed

Free

Fixed ——— Free

Figure 3-1. Schematic diagram of spline shaft fixed - free

Supported Supported

Supported ——— Supported

Figure 3-2. Schematic diagram of spline shaft supported - supported

Fixed Supported

Fixed ——— Supported

Figure 3-3. Schematic diagram of spline shaft fixed - supported

Fixed Fixed

Fixed ——— Fixed

Figure 3-4. Schematic diagram of spline shaft fixed - fixed
 P99TE01-2204 13

3.3 Predicting life

Rated life
The life of a ball spline can vary considerably even if it is manufactured from the same batch and used under the
same motion conditions. Therefore, as a basis for calculating the life of a linear motion system, use the rated life as
defined below.

The rated life is the total running distance that can be achieved by having a batch of identical linear motion
systems moving separately under the same conditions, 90% of which do not show metal fatigue.

Pc (N)

Tc (N-m)

Figure 3-5. Schematic diagram of the ball spline subjected to stress

The ball spline can withstand three types of load during operation, torque load, radial load and moment load.
The respective rated life can be obtained according to formula (7) to (10). (The basic rated load in each direction of
load is recorded in the dimension table of each model number. )

• When subjected to torque load

ｆ ·ｆ Ｃ
Ｔ Ｃ Ｔ
=( ×Ｔ ) × 7
ｆ
Ｗ Ｃ

• When subjected to radial load

ｆ ·ｆ Ｃ
Ｔ Ｃ
=( ×Ｐ ) × 8
ｆ
Ｗ Ｃ

L : Rated life (km)

CT : Basic dynamic torque load rating (N-m)
TC : Calculated value of applied torque (N-m)
C : Basic dynamic load rating (N)
PC : Calculated value of radial load (N)
fT : Temperature coefficient (see the figure 3-6)
fC : Contact coefficient (see the table 3-4)
fW : Load coefficient (see the table 3-5)
14 P99TE01-2204

• When subjected to both torque load l and radial loads simultaneously

When subjected to both torque load and radial loads simultaneously, the equivalent radial load can be
calculated according to the following formula (9) and then the life can be calculated.
４· ｘ１０³
Ｐ =Ｐ + 9
Ｅ Ｃ i·dp·cosα

PE: Equivalent radial load (N)

cosα : Contact angle (FBR type α=70°)
i : 3 rows of steel balls under load for specification 20
dp: Ball center diameter (mm)

• Calculating life time

After calculating the rated life (L) using the above formula, the life time can be calculated according to the
following formula (10) when the number of strokes and times are fixed.
Ｌｘ１０³
Ｌ = ２ｘｌ 10
ｈ ｘｎ ｘ６０
Ｓ １

Lh : Life time (h)

ls : Stroke length (m)
n1 : Cycles per minute (min -1
)

fT: Temperature coefficient

When using a ball spline in operating temperatures exceeding 100°C, multiply the temperature coefficient of
Figure 3-6 when calculating the life, taking into account the adverse effects caused by high temperatures. Also,
note that it is necessary to use ball spline products suitable for high temperatures.
Note: In case of operating above 80°C, the material of the dustproof ring and retainer must be changed to a material
for the high-temperature specification accordingly.

1.0

0.9
fTemperature coefficient T

0.8

0.7

0.6

0.5

100 150 200

Ball groove temperature (°C)

Figure 3-6. Temperature coefficient (fT)

 P99TE01-2204 15

fc : Contact coefficient
When multiple nuts are mounted closely and working in linear motion, it is difficult to get a uniform distributions
of loads due to the moment load and mounting accuracy. Therefore when using multiple nuts closely, multiply the
basic load rating(C) and (C0) by corresponding contact coefficients in Table 3-4.

Table 3-4. Contact coefficient (fc)

Number of spline nut mounted closely Contact coefficient fc

2 0.81

3 0.72

4 0.66

5 0.61

Usual use 1

Note: If the load is expected to be nonuniform in large installations, please refer to the contact
coefficients in Table 3-4.

fw : Load coefficient
Most machines will have vibration and impact during operation. It's very difficult to calculate correctly, especially
for vibration is generated during high-speed movement or impact is caused by frequent starting and stopping.
Therefore, when the actual load on the linear motion system is not available, or when the effects of velocity and
vibration are significant, please divide the basic load rating (C) and (C0) by the load coefficients obtained from
experience in Table 3-5.

Table 3-5. Loadcoefficient (fw)

Vibration/impact Velocity V (m/s) Load coefficient fw

Mini speed per hour

Low 1~1.2
V ≦ 0.25

At low speed
Small 1.2~1.5
0.25 ＜ V ≦ 1

At medium speed
Medium 1.5~2
1＜V≦2

At high speed
High 2~3.5
V＞2
16 P99TE01-2204

Shape of the spline shaft cross-section

∅ ∅
PC D d
D ∅
d
∅

PCD

∅D

Nominal shaft diameter: 13mm or less Nominal shaft diameter: 16mm or more

Figure 3-7. Diagram of the ball spline cross-section

Shape of the hollow spline shaft cross-section

∅ ∅
PC D
D d
d ∅
∅

PCD
∅id
∅D
∅id

Nominal shaft diameter: 13mm or less Nominal shaft diameter: 16mm or more

Figure 3-8. Diagram of the hollow ball spline cross-section

Table 3-6. Parameters of the spline shaft cross-section Unit: mm

Nominal shaft diameter 13 16 20 25 32

Groove valley diameter
12.02 15.02 18.92 23.62 30.42
∅d
Ball center PCD 14.8 17.8 22.1 27.6 33.2

Outer diameter ϕD 13 16 20 25 32
Allowable outer diame- 0 0
ter tolerance -0.018 -0.021
Hollow hole ϕid 7 11 14 18 23

* The groove valley diameter ∅d must be the value where no groove is left after processing.
 P99TE01-2204 17

Calculating average load

When the load on the spline nut varies, as in the case of the industrial robots with a work piece when moving
forward and has its arm weight only when moving backward, it is necessary to calculate the life considering the
conditions of variation of the load.

Average load (Pm) is a certain load that has the same life as the life under the conditions of this variable load when
the load acting on the spline nut varies with various motion conditions.

The basic formula is shown below:

11
= · ( · (

Pm : Average load (N)

Pn : Variable load (N)
L : Total running distance (mm)
Ln : Distance traveled during Pn
The case of step load

１ 12
Ｐ = ·（ · ＋ · ······ ＋ · ）
ｍ Ｌ

Pm : Average load (N)

Pn : Variable load (N)
L : Total running distance (mm)
Ln : Distance traveled during Pn

P1

Pm

P2
Load (P)

Pn

L1 L2 Ln

Total running distance (L)

Figure 3-9
18 P99TE01-2204

The case of linear variation

１
Ｐ ≒ （P +2×P ） 13
ｍ ３

Pmin : Minimum load (N)

Pmax : Maximum load (N)

P max

Pm
Load (P)

P min

Total running distance (L)

Figure 3-10

The case of sinusoidal loading

(a)Ｐ
Ｐ ≒ . ×Ｐ 14 (b)Ｐ
Ｐ ≒ . × 15
ｍ ｍ

P max
P max

Pm
Pm
Load (P)

Load (P)

Total running distance (L)

Total running distance (L)

Figure 3-11 Figure 3-12

 P99TE01-2204 19

4. Selecting preload
The preload of the ball spline significantly influences accuracy, and stiffness, so it is necessary to select
the appropriate clearance (or preload) for the application. Clearance values are specified for each model
number and can therefore be selected appropriately according to the conditions of use.

Preload and stiffness

Preload is a load applied to the ball beforehand to eliminate clearance in the rotation direction and improve
stiffness. When preload is applied, the ball spline increases stiffness according to the strength of the preload.
Figure 4-1 shows the displacement in the direction of rotation when applying a rotational torsion.

As shown in Figure 4-1, the effect of preload is maintained up to 2.8 times the preload load. Compared with the
time without preload, the displacement becomes one-half of the same torsion and the stiffness is more than 2
times.

No preload

2D
Rotation angle (tanθ)

Light preload

Medium
preload
D

T Torsion (N-m) 2.8T

Figure 4-1
20 P99TE01-2204

4.1 Conditions and benchmarks for use in the selection of preload

Table 4-1 indicates the benchmarks for selection of clearance in the direction of rotation according to
the conditions of use of the ball spline.
Clearance in the direction of rotation of the ball spline significantly influences the accuracy or stiffness
of the ball spline. Therefore, it is important to select the appropriate clearance according to the
application. Generally, products with preload are used. There is a high vibration shock in the case of a
repeated rotating motion or a reciprocating linear motion, so applying preload will significantly improve
the stiffness and accuracy.

Table 4-1. Selected benchmark for clearance of the ball spline in the direction of rotation

Clearance in the
direction of Conditions of use Typical Applications
rotation

• Various metering instru-

ments
• Automatic drawing machine
• Shape measuring instru-
• Where it is intended to drive smoothly
ments
with a small force
No preload • Where the torsion always acts in a cer-
• Dynamometer
• Winding machine
tain direction
• Automatic welding machine
• Boring and grinding machine
main shaft
• Automatic packing machine

• Rocker arm of industrial

robots
• Various automatic loading
• Where the cantilever load or moment is
and unloading machines
applied
• Automatic coating guide
Light preload • Where high accuracy of repetition is
shaft
required
• Electric discharge machine
• Where variable load is applied
main shaft
• Stamping die guide shaft
• Drilling machine main shaft

• The steering shaft of con-

• Where high stiffness is required and
Medium pre- struction vehicles
vibration shock is prone to occur.
• Paste welding machine shaft
load • Where a spline nut is subject to the mo-
• Automatic plate tool table
ment
indexing shaft

Table 4-2. Clearance and preload range for each specification in the direction of rotation.

Shaft diameter No preload Light preload Medium preload

13 ~ 0~0.02C 0.05C~0.07C

16, 20 ~ 0~0.02C 0.05C~0.07C

25, 32 ~ 0~0.02C 0.05C~0.07C

* C indicates basic dynamic load rating

 P99TE01-2204 21

5. Selecting accuracy
5.1 Linear ball splines
Grade of accuracy
The grade of accuracy of the ball spline is expressed in terms of oscillation of the outer diameter of the spline nut
against the supporting part of the spline shaft. It is divided into normal (C), high (H) and precision (P) which are
shown in Figure 5-1.

Accuracy indication

• RS type
b (2) C b (2) C'
h (1) CC'
r (3) C r (3) C'
C C'

Figure 5-1. Measurement items of the accuracy of RS type ball spline

Table 5-1 Runout accuracy of RS type ball splines

Unit μm
Nominal shaft
diameter
Total length of
13 16 20 25 32
spline shaft
Above Below C H P C H P C H P C H P C H P
- 200 56 34 18 56 34 18 56 34 18 53 32 18 53 32 18
200 315 71 45 25 71 45 25 71 45 25 58 39 21 58 39 21
315 400 83 53 31 83 53 31 83 53 31 70 44 25 70 44 25
400 500 95 62 38 95 62 38 95 62 38 78 50 29 78 50 29
500 630 112 112 112 88 57 34 88 57 34
630 800 103 68 42 103 68 42
800 1000 124 83 124 83

Table 5-2 Geometric accuracy of RS type ball splines

Unit μm

Shoulder verticality (2) Shoulder concentricity (3)

Accuracy
Nominal shaft C H P C H P
diameter
13 27 11 8 46 19 12
16 27 11 8 46 19 12
20 27 11 8 46 19 12
25 33 13 9 53 22 13
32 33 13 9 53 22 13
22 P99TE01-2204

• FS type

b (4) CC'
b (2) C b (2) C'
h (1) CC'
r (3) C r (3) C'
C C'

Figure 5-2. Measurement items of the accuracy of FS type ball spline

b (4) AA'
b (2) C Table 5-3 Runout accuracy ofhFS(5)
type ball splines b (2) C'
AA'
h (1) CC' Unit μm
r (3) C r (3) C'
Nominal shaft
Total length of
diameter 13 C A
16 20 A' C' 25 32
spline shaft
Above Below C H P C H P C H P C H P C H P
- 200 56 34 18 56 34 18 56 34 18 53 32 18 53 32 18
200 315 71 45 25 71 45 25 71 45 25 58 39 21 58 39 21
315 400 83 53 31 83 53 31 83 53 31 70 44 25 70 44 25
400 500 95 62 38 95 62 38 95 62 38 78 50 29 78 50 29
500 630 112 112 112 88 57 34 88 57 34
630 800 103 68 42 103 68 42
800 1000 124 83 124 83

Table 5-4 Geometric accuracy of FS type ball splines

Unit μm

Shoulder verticality (2) Shoulder concentricity (3) Verticality (4)

Accuracy
C H P C H P C H P
Nominal shaft
diameter
13 27 11 8 46 19 12 39 16 11
16 27 11 8 46 19 12 39 16 11
20 27 11 8 46 19 12 39 16 11
25 33 13 9 53 22 13 39 16 11
32 33 13 9 53 22 13 39 16 11
 h (1) CC'
r (3) C r (3) C'
C C'

P99TE01-2204 23

• FSR type

b (4) AA'
b (2) C b (2) C'
h (5) AA'
h (1) CC'
r (3) C r (3) C'
C A A' C'

Figure 5-3. Measurement items of the accuracy of FSR type ball spline

Table 5-5 Runout accuracy of FSR type ball splines

Unit μm
Nominal shaft
Total length of
diameter 13 16 20 25 32
spline shaft
Above Below C H P C H P C H P C H P C H P
- 200 56 34 18 56 34 18 56 34 18 53 32 18 53 32 18
200 315 71 45 25 71 45 25 71 45 25 58 39 21 58 39 21
315 400 83 53 31 83 53 31 83 53 31 70 44 25 70 44 25
400 500 95 62 38 95 62 38 95 62 38 78 50 29 78 50 29
500 630 112 112 112 88 57 34 88 57 34
630 800 103 68 42 103 68 42
800 1000 124 83 124 83

Table 5-6 Geometric accuracy of FSR type ball splines

Unit μm
Shoulder verticality (2) Shoulder concentricity (3) Outer ring verticality (4) Outer ring runout (5)

Accuracy
Nominal shaft C H P C H P C H P C H P
diameter
16 27 11 8 46 19 12 29 18 13 32 21 16
20 27 11 8 46 19 12 29 18 13 32 21 16
25 33 13 9 53 22 13 32 21 16 32 21 16
32 33 13 9 53 22 13 32 21 16 32 21 16
24 P99TE01-2204

5.2 Compound ball splines

Accuracy specifications
The compound ball spline consists of a ball screw nut and a ball spline nut, and is made according to the following
specifications and inspected in accordance with Figure 5-4 and Table 5-6.

• Ball screw
Axial clearance: 0
Lead accuracy: C4 grade

• Ball spline
Clearance in the direction of rotation: 0 (light preload)
Precision grade: H grade

b (1) BB' b (3) BB'

B B' B B'

h (2) BB' h (4) BB'

Figure 5-4. Measurement items of the accuracy of compound ball spline

Table 5-6. Table of geometric accuracy of the linear ball spline

Unit μm

Nominal shaft Ball screw nut Ball spline nut

diameter Verticality (1) Runout (2) Verticality (3) Runout (4)
16 16 20 18 21
20 16 20 18 21
25 18 24 21 21
32 18 24 21 21
 P99TE01-2204 25

6. Dimensions of the ball spline

6.1 Linear ball spline RS, FS, FSR types

Product dimensions
• RS type
L
l0
b
3-Ød0
t

D Ød

D-D VIEW ØD

Permission
Outer Keyway Keyway Keyway Lubrication
Basic load rating Basic torque load rating static Length
Nominal diameter width depth length hole
moment
shaft
t
diameter C (kN) Co (kN) CT (N-m)
CoT
MA(N-m) D L
b
+0.1 l0 d0
(N-m) H8
0
13 4.07 5.99 5.98 10.88 19.6 24 36 3 1.5 15 1.5

16 7.2 13.5 32.1 34.4 67.6 31 50 3.5 2 17.5 2

20 10.4 20.0 57.8 63.2 118 35 63 4 2.5 29 2

25 15.4 27.5 106.5 108.8 210 42 71 4 2.5 36 3

32 20.5 34.4 181.5 173.1 290 49 80 4 2.5 42 3

• FS type L
45° 45° Z1

D
Ød
4-Øm1, Øm2xt1 DP 3-Ød0 ØD
BCD W D-D VIEW ØF

Permission Flange
Outer Lubrication
Nominal Basic load rating Basic torque load rating static outer Length
diameter hole
shaft moment diameter Z1 W m1 m2xt1
diameter
C (kN) Co (kN) CT (N-m) CoT (N-m) MA(N-m) D F L d0

13 4.07 5.99 5.98 10.88 19.6 24 44 36 7 1.5 33 4.5 8x4.4

16 7.2 13.5 32.1 34.4 67.6 31 51 50 7 2 40 4.5 8x4.4

20 10.4 20.0 57.8 63.2 118 35 58 63 9 2 45 5.5 9.5x5.4

25 15.4 27.5 106.5 108.8 210 42 65 71 9 3 52 5.5 9.5x5.4

32 20.5 34.4 181.5 173.1 290 49 77 80 10 3 62 6.6 11x6.5

26 P99TE01-2204

• FSR type
L
E1 T1
6-ØC1
6-m1xt1 Z1
BCD W BCD W1 D

2-Ødo
30°

30°
D

ØF1 ØS1
ØA1 ØD1
D-D VIEW

Permission Flange
Basic load Basic torque load Outer Total Lubrication Support bearing
Nominal static outer
rating rating diameter length hole basic load rating
shaft moment diameter F1 S1 T1 E1 Z1 W W1 m1xt1 C1
diameter C Co CT CoT MA(
D A1 L d0 Ca(kN) Coa(kN)
(kN) (kN) (N-m) (N-m) N-m)

16 7.2 13.5 32.1 34.4 67.6 48 64 50 36 31 21 10 6 56 30 M4x6 4.5 1.5 9.3 11.5

20 10.4 20.0 57.8 63.2 118 56 72 63 43.5 35 21 12 6 64 36 M5x8 4.5 1.5 9.8 13.3

25 15.4 27.5 106.5 108.8 210 66 86 71 52 42 25 13 7 75 44 M5x8 5.5 2.5 13.1 22

32 20.5 34.4 181.5 173.1 290 78 103 80 63 52 25 17 8 89 54 M6x10 6.6 2.5 13.7 25.2
 P99TE01-2204 27

6.2 Compound ball spline FBR, FBL types

Product dimensions
• FBR type

L2 L1
E2 T2 T1 E1 6-ØC1
6-ØC2 Z2 (60° equivalent)
4-m2xt2 Z1 6-m1xt1
(60° equivalent)
(60° equivalent)
(90° equivalent)

2-Ød1 2-Ød0

ØS2 ØS1

ØF2 ØD1 ØF1

W3 ØA2 ØD2 ØA1
W1
W2
W

Specifications Ball screw nut

Support bearing
basic load rating
Model Basic load Lubrication
number Nominal Nominal rating Outer Flange hole
Total
diameter outer F2
outer inner Lead length S2 T2 E2 Z2 W2 W3 m2xt2 C2
D2 diameter h7
diameter diameter L2
g6 A2
C(kN) Co(kN) d1 Ca(kN) Coa(kN)

16 16 11 16 4.7 9.6 48 64 40 36 32 21 10 6 56 25 M4x8 4.5 1.5 9.3 11.5

20 20 14 20 6.4 14 56 72 46 43.5 40 21 11 6 64 31 M5x8 4.5 1.5 9.8 13.3

25 25 18 25 9.5 21.9 66 86 58 52 47 25 13 7 75 38 M6x12 5.5 2.5 13.1 22

32 32 23 32 13 29.8 78 103 72 63 58 25 14 8 89 48 M6x10 6.6 2.5 13.7 25.2

Ball spline nut

Support bearing
Permission basic load rating
Model Basic torque load Lubrication
Basic load rating static
number rating Outer Flange Total hole
moment F1
diameter diameter length S1 T1 E1 Z1 W W1 m1xt1 C1
h7
D1 A1 L1
C(kN) Co(kN) CT(N-m) CoT(N-m) MA(N-m) d0 Ca(kN) Coa(kN)

16 7.2 13.5 32.1 34.4 67.6 48 64 50 36 31 21 10 6 56 30 M4x6 4.5 1.5 9.3 11.5

20 10.4 20.0 57.8 63.2 118 56 72 63 43.5 35 21 12 6 64 36 M5x8 4.5 1.5 9.8 13.3

25 15.4 27.5 106.5 108.8 210 66 86 71 52 42 25 13 7 75 44 M5x8 5.5 2.5 13.1 22

32 20.5 34.4 181.5 173.1 290 78 103 80 63 52 25 17 8 89 54 M6x10 6.6 2.5 13.7 25.2
28 P99TE01-2204

7. Design examples
7.1 Inspection manual for the spline shaft design
For products that require the end machining of the spline shaft end, please check the following points when
placing orders. The following Figure shows the basic drawing of the ball spline.

f
f g f'
h h
k
i o'
a o
e
j j'
n

Figure 7-1. Basic drawing of the ball spline.

Inspection requirements
a. Type of spline nut to be installed
b. Number of spline nuts
c. Clearance of rotating direction
d. Accuracy
e. With or without the dustproof ring
f. Full length (whether the dimensions of all parts are ready and whether the total dimensions are correct)
g. Effective length of the spline part
h. Incomplete heat treatment area
i. The direction of the flange (flange type)
j. If spline shaft end part diameter is larger than stroke area.
k. Position of the spline nut in relation to the shape of the spline shaft end (keyway of the spline nut, flange
hole)
l. Indication of the chamfer
m. The shape of the chamfer of the spline shaft end
n. Application of hollow shaft
o. O ring position
p. Maximum length
q. Whether there are other precedents
 P99TE01-2204 29

7.2 Position of the keyway and flange hole of the spline nut
Among all types of ball splines, the keyway in the outer diameter of the spline nut is shown in Figure
7-2 and is machined according to the position of the ball circulation.
In addition, the flange holes in the flange-type nuts are in the position shown in Figure 7-3.
Specify the position of the processed keyway, etc., on the spline shaft when placing orders.

SP13-RS type and smaller types SP16-RS type and larger types

Figure 7-2 Position of the spline groove for RS type

SP13-FS type and smaller types SP16-FS type and larger types

Figure 7-3 Position of spline flange hole for FS type

30 P99TE01-2204

8. Installation steps
1. Recommended tolerance for spline nut mounting surface.
When specifying the tolerance for the diameter of the mounting surface for the spline nut bracket, it
is generally recommended to use a transition fit (J6) for best accuracy. However, a clearance fit (H7)
may be used in cases where accuracy requirements are lower.

2. Examples of installation of the ball spline

Examples are shown in the table below. Although the tightness demand of the ball spline assembly
does not need to be very high, it is important to avoid installing them without fixing them.

Table 8-1. Examples of installation of the ball spline

C ring

RS type

FS type

Pulley

FRS
type

3. Installation of the ball spline nut

When installing the spline nut into the mounting surface, insert it slowly using the installation jig
without hitting the C ring or the dustproof ring.
 P99TE01-2204 31

D-0.5

Di

Figure 8-1. Schematic diagram of installing the jig

Table 8-2. Recommended jig dimensions

Nominal shaft diameter 13 16 20 25 32

Di 11.5 14.5 18.5 23 28

4. Installation of the ball spline shaft

When inserting the spline shaft into the spline nut, take care to insert the spline shaft perpendicular
to the spline nut insert the straight groove of the spline shaft along the positing guide part of the
retainer or the dustproof ring. Do not force the spline nut in to avoid the balls falling out of the
retainer.

If the spline nut is equipped with a dustproof ring or preloaded, lubricate the outer diameter of the
spline shaft with lubrication grease in advance.
32 P99TE01-2204

9. Option of ball spline

Lubrication
The lubrication varies depending on the conditions of use, but in general, the grease should be replenished at
a running distance of 100km (6 months~1 year). Lubricate the spline shaft by applying grease to the rolling
groove or injecting grease into the nut lubrication hole, as shown in Figure 9-1.

Grease nipple

Sleeve

Figure 9-1. Lubrication method

Material and surface treatment

Depending on the conditions of use, the ball spline may be treated by rust prevention or be manufactured
with different material. Please contact HIWIN for the rust prevention treatment and change of material used.
 P99TE01-2204 33

10. Precautions for use

Transportation/Assembly
(1) When transporting heavy products (20kg or more), two or more people or transporting equipment is
requested. Otherwise, it may result in scratches or damage.
(2) Do not disassemble any part. Otherwise, it may result in loss of function.
(3) The spline nu t and spline shaft may fall by their weight when tilting, so be careful.
(4) Do not allow the ball spline to fall or be impacted. Otherwise, it may result in scratches or damage. In
addition, even if the damage is not visible from the outside, it may result in loss of function if it is hit.
(5) When assembling, do not remove the spline nut from the spline shaft.
(6) When using the product, wear protective gloves, safety shoes, etc., as necessary to ensure safety.

Precautions for use

(1) Please take care to prevent the inflow of foreign objects into the nut such as particles and coolant.
Otherwise, it may result in damage.
(2) When using the product in an environment where particles, coolant, corrosive solvents, water, etc. may
flow into the product, use a soft telescopic sheath or dustproof cover to prevent them from flowing into
the product.
(3) Do not use at temperatures exceeding 80°C. Except for the heat resistant type, if the temperature is
exceeded, it may cause deformation and damage to the resin and rubber parts.
(4) If foreign objects such as metal shavings are attached, clean and lubricate again.
(5) During short stroke application, it is difficult to form an oil film on the contact surface of rolling
elements, and micro-abrasion may occur, so use a lubrication grease with high micro-abrasion
resistance. In addition, it is recommended to form an oil film on the rolling elements periodically by
applying a stroke of about the length of the spline nut.
(6) Do not force the position parts (pins, keys, etc.) into the product. Otherwise, the rolling surface may
become indented and may result in loss of function.
(7) In case of misalignment or skewing of the supporting part of the spline shaft and spline nut, the service
life will be extremely shortened. Please pay attention to the installation parts and installation accuracy.
(8) If the spline nut is inserted into the spline shaft and used in the absence of the steel balls, premature
damage may occur.
(9) If any steel balls falls out of the spline nut, do not continue to use this product and contact HIWIN.
(10) When installing the spline shaft into the spline nut, check the position in relation to the shaft and the
spline nut while inserting the shaft into the spline nut without any inclination, since there is a comparison
mark on the spline shaft and the spline nut. If it is inserted too forcibly, the balls may fall out. Please
pay special attention. Apply lubricant to the outer diameter of the spline shaft when inserting the spline
nut with a dustproof ring or the preloaded spine nut.
(11) When inserting the spline nut into the shaft, insert it slowly using a jig without hitting the side plate, end
cap ring or dustproof ring.
(12) If the stiffness and accuracy of the installation components are not sufficient, the load on the bearing
will be concentrated locally, and the performance of the bearing will be significantly reduced. Therefore,
give due consideration to the stiffness and accuracy of the support seat and base seat and the strength of
the fixing screws.
(13) Please contact HIWIN when machining positioning pin holes on the ball spline with flanges, etc.
34 P99TE01-2204

Lubrication
(1) Wipe off the rust-proof oil carefully and lubricate before use.
(2) Do not mix different lubricants together for use. Even lubricant greases with the same type of thickening
agent may affect each other due to different additives, etc.
(3) Use the lubricant grease that fits the specifications and environment if it is used in a special
environment, such as a place where there is a lot of vibration, a clean room, vacuum, or low or high
temperature.
(4) When lubricating a product without a grease nipple or oil hole, apply lubricant directly to the rolling
surface and make several test runs in order to inject the lubrication grease into the product.
(5) The consistency of lubrication grease varies depending on the temperature. The sliding resistance of the
ball spline changes due to the change in consistency, so please pay attention to it.
(6) After adding lubrication grease, the mixing resistance of the lubrication grease may cause an increase in
the sliding resistance of the ball spline. Make sure to carry out a test run and operate the machine after
getting used to the lubrication grease.
(7) After adding lubrication grease, excess lubrication grease may be dispersed to the surrounding area, so
wipe it off before use if necessary.
(8) The lubricant properties will deteriorate over time, so it is necessary to check and replenish the
lubrication grease according to the frequency of use.
(9) The lubrication interval varies depending on the conditions and environment of use. It is recommended
to lubricate the system approximately every 100km travel distance (3-6 months). The final lubrication
interval should be set according to the actual machine.
(10) When lubricating with oil, sometimes the lubricant may not reach due to the installation direction of the
ball spline. Please contact HIWIN in advance for details.

Storage
When storing the ball spline, place it in the HIWIN specified package and store it horizontally in the room to
avoid high and low temperatures and high humidity. Since the internal lubricant will deteriorate over time,
store the product for a long time, lubricate it again before use.

Disposal
Please discard the product as industrial waste as appropriate.
MEMO
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Lubrication Module E2
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Ball Spline Technical Information

Publication Date：April 2022, first edition
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 Ball Spline Technical Information
Ball Spline

Technical Information

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The specifications in this catalog are subject to change without notification. ©2022 FORM P99TE01-2204