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6. OPTION AND AUXILIARY EQUIPMENT
2) To make selection according to regenerative energy
Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative brake option:
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
M
Friction
torque
T
F
T
U
tf(1 cycle)
No
Up
t1
t2
T
T
psa1
psd1
1)
( )
(Driving)
2)
4)
5)
3)
(Regenerative)
( )
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo Amplifier
MR-J2-10B
MR-J2-20B
MR-J2-40B
MR-J2-60B
MR-J2-70B
MR-J2-100B
MR-J2-200B
MR-J2-350B
Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier when
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by
the inverse efficiency to calculate the energy consumed by the regenerative brake option.
Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation
period tf [s] to select the necessary regenerative brake option.
Formulas for Calculating Torque and Energy in Operation
Regenerative
Power
1)
2)
3)
4), 8)
5)
6)
Time
7)
Down
t3
t4
Sum total of regenerative energies
T
T
psa2
psd2
8)
6)
7)
Inverse Efficiency[%]
55
70
85
85
80
80
85
85
rated (regenerative) torque is generated at rated speed. Since the efficiency varies
with the speed and generated torque, allow for about 10%.
ER [J]
PR [W]
ER/tf ...........................................................................................(6-1)
Torque applied to servo motor [N m]
(J
J ) No
L
M
T
1
4
9.55 10
T
T
T
2
U
F
(J
J ) No
L
M
T
3
4
9.55 10
T
T
4
U
(J
J ) No
L
M
T
5
4
9.55 10
T
T
T
6
U
F
(J
J ) No
L
M
T
7
4
9.55 10
Capacitor Charging[J]
9
9
11
11
18
18
40
40
E
E
S
C
6 - 2
1
0.1047
T
T
E
U
F
1
T
Psa1
E
0.1047
2
1
0.1047
T
T
E
U
F
3
T
Psd1
E
0 (No regeneration)
4
1
0.1047
T
T
E
U
F
5
T
Psa2
E
0.1047
6
1
0.1047
T
T
E
U
F
7
T
Psd2
Sum total of negative energies in 1) to 8)
Energy [J]
No T
T
1
Psa1
2
No T
t
2
1
No T
T
3
Psd1
2
No T
T
5
Psa2
2
t
No T
3
6
T
No T
7
Psd2
2
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