A motion error prediction method of the lead screw driven system based on the general expression for nonlinear autoregressive（GNAR）model was proposed. The sample data were classified as a training set and a test set, and the GNAR model was established on training set and the prediction assessment was checked on test set. The results show that the model has a good tracking performance, and its prediction accuracy is superior to AR model. Therefore the prediction based on GNAR model is an effective method.