Mitsubishi Electric MELSERVO-J4 Series Instruction Manual page 340

Regenerative Torque applied to servo motor [N•m]
power
1)
T
1
2) T
2
3)
T
3
4), 8) T , T
4
5)
T
5
6) T
6
7)
T
7
*1 Load torque converted into equivalent value on servo motor shaft TL can be calculated with the following expression.
+ (  W
T = {(F
L C
*2 Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following expression.
J = J + J + J
L L1 L2 L3
J is the load moment of inertia of the moving part, J
L1
inertia of the coupling. J
 (S / (20  ))
J = W
L1 L
= {(  0.0078  (L
J
L2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
11 OPTIONS AND PERIPHERAL EQUIPMENT
338
11.2 Regenerative options
(J /η + J ) • N 1
= L M • + T
L
9.55 • 10 t
4
psa1
= T
L
-(J • η + J ) • N 1
= L M • + T
L
9.55 • 10 t
4
psd1
= 0
8
(J /η + J ) • N 1
= L M • + T
L
9.55 • 10 4 t
psa2
= T
L
-(J • η + J ) • N 1
L M
= • + T
L
9.55 • 10 4 t
psd2
 g))  S} / (2000    η)
L
and J can be calculated with the following expressions.
L1 L2
2
4
/ 10)) / 32}  (D
/ 10)
B B
*1*2
Energy E [J]
0.1047
E =
1
E = 0.1047 • N • T
2
0.1047
E =
3
E , E = 0 (No regeneration)
4 8
0.1047
E =
5
E = 0.1047 • N • T
6
0.1047
E =
7
is the load moment of inertia of the ball screw, and J
L2
• N • T • t
1 psa1
2
• t
2 1
• N • T • t
3 psd1
2
• N • T • t
5 psa2
2
• t
6 3
• N • T • t
7 psd2
2
is the load moment of
L3