Regenerative Energy Absorption; Calculating The Regenerative Energy - Omron SMARTSTEP 2 SERIES User Manual

4-4 Regenerative Energy Absorption

4-4 Regenerative Energy Absorption

The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the
regenerative energy produced during Servomotor deceleration and prevents the DC voltage from
increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the
Servomotor is too large. In this case, measures must be taken to reduce the regenerative energy
by changing operating patterns, or to increase the regenerative energy absorption capacity by
connecting an External Regeneration Resistor.
4

Calculating the Regenerative Energy

Horizontal Axis
Servomotor
operation
Servomotor
output torque
Note In the output torque graph, acceleration in the positive direction is shown as positive, and
The regenerative energy values for each region can be derived from the following equations.
Note Due to the loss of winding resistance and PWM, the actual regenerative energy will be
Average regeneration power (Pr): Regeneration power produced in one cycle of operation.
4-33
+N
1
T
D1
E E
g1 g1 g1
t
1
acceleration in the negative direction is shown as negative.
1 2
=
E N T
* * * *
g 1 1 D 1
2 60
1 2
=
E N T
g 2 * * 2 * D 2 *
2 60
N , N : Rotation speed at beginning of deceleration [r/min]
1 2
T , T : Deceleration torque [N·m]
D1 D2
t , t : Deceleration time [s]
1 2
approximately 90% of the values derived from these equations.
=
P (E + E ) / T [W]
r g1 g2
−N
2
T
[J] =0.0524 N T t
t
* * *
1 D1 1
1
[J] =0.0524 N T t
t
* * *
2 D2 2
2
T: Operation cycle [s]
T
D2
E E
g2 g2 g2
t
2
[J]
[J]