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System Design and Installation
Note There is some loss due to winding resistance, so the actual regenerative energy will be approx-
imately 90% of the values derived from these equations.
• For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of
400 W or less.), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Driver's
regenerative energy absorption capacity. (The capacity varies depending on the model. For details,
refer to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity.)
• For Servo Driver models with internal regeneration resistance for absorbing regenerative energy
(i.e., models of 750 W), the average amount of regeneration P
this value must be lower than the Servo Driver's regenerative energy absorption capacity. (For
details, refer to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity.)
The average amount of regeneration (P
one cycle of operation.
P
= (E
+ E
)/T [W]
r
g1
g2
T: Operation cycle [s]
Vertical Axis
■
Servomotor operation
Servomotor output torque
Note In the output torque graph, acceleration in the positive direction (rise) is shown as positive, and
acceleration in the negative direction (fall) is shown as negative.
• The regenerative energy values for E
3-38
) is the power consumed by regeneration resistance in
r
+N
1
Rise
T
D1
E
g1
t
1
, E
, and E
g1
g2
(unit: W) must be calculated, and
r
Fall
−N
2
T
D2
E
g2
E
E
g3
g3
T
L2
t
t
2
3
T
are derived from the following equations.
g3
Chapter 3
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