11. OPTIONS AND PERIPHERAL EQUIPMENT
11.2.2 Selection of regenerative option
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 option.
(1) Regenerative energy calculation
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
M
Friction
torque
T
F
T
U
Formulas for calculating torque and energy in operation
Regenerative
Torque applied to servo motor [N•m]
power
/ η + J
(J
L
T
=
1)
1
9.55 • 10
2)
T
= T
+ T
2
U
F
• η + J
-(J
L
T
=
3)
3
9.55 • 10
4), 8)
T
, T
= T
4
8
U
/ η + J
(J
L
T
=
5)
5
9.55 • 10
6)
T
= -T
+ T
6
U
• η + J
-(J
L
T
=
7)
7
9.55 • 10
Note. η: Drive system efficiency
11 - 9
Up
t
1
t
psa1
1)
(+)
(Power running)
2)
(Regeneration)
(-)
(Note)
1
) • V
M
•
+ T
+ T
E
U
F
t
4
psa1
E
1
) • V
M
•
+ T
+ T
E
U
F
4
t
psd1
E
1
) • V
M
•
- T
+ T
E
U
F
t
4
psa2
E
F
1
) • V
M
•
- T
+ T
E
U
F
4
t
psd2
tf (1 cycle)
V
Time
Down
t
t
t
2
3
4
t
t
t
psd1
psa2
psd2
4)
8)
5)
6)
3)
7)
Energy E [J]
0.1047
=
• V • T
• t
1
1
psa1
2
= 0.1047 • V • T
• t
2
2
1
0.1047
=
• V • T
• t
3
3
psd1
2
≥ 0 (No regeneration)
, E
4
8
0.1047
=
• V • T
• t
5
5
psa2
2
= 0.1047 • V • T
• t
6
6
3
0.1047
=
• V • T
• t
7
7
psd2
2