Omron OMNUC W Series User Manual page 210

System Design and Installation
• 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 regen-
erative 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 500 W or more), the average amount of regeneration P
this value must be lower than the Servo Driver's regenerative energy absorption capacity. (The capac-
ity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative Energy Ab-
sorption Capacity.)
The average amount of regeneration (P
cycle of operation.
P = (E + E )/T
r g1 g2
T: Operation cycle
H 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
= 1 ⋅ 2π
E ⋅ N
g1
2 60
= 2π
E ⋅ N ⋅ T
g2 2
60
= 1 ⋅ 2π
E ⋅ N
g3
2 60
N , N : Rotation speed at beginning of deceleration [r/min]
1 2
T , T : Deceleration torque [NSm]
D1 D2
T : Torque when falling [NSm]
L2
t , t : Deceleration time [s]
1 3
t : Constant-velocity travel time when falling [s]
2
3-44
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) is the power consumed by regeneration resistance in one
r
[W]
[s]
Rise
, E
g1 g2
⋅ T ⋅ t [J]
1 D1 1
⋅ t [J]
L2 2
⋅ T ⋅ t [J]
2 D2 3
(unit: W) must be calculated, and
r
Fall
, and E are derived from the following equations.
g3
Chapter 3