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13. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
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 brake option:
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Regenerative power
1)
2)
3)
4), 8)
5)
6)
7)
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
MR-E-10A(1)
MR-E-20A(1)
MR-E-40A(1)
MR-E-70A
MR-E-100A
MR-E-200A
Inverse efficiency ( )
Capacitor charging (Ec)
M
Friction
torque
T
F
T
U
Formulas for calculating torque and energy in operation
Torque applied to servo motor [N m]
(J
J
)
N
L
M
0
T
1
4
T
9.55 10
T
T
T
2
U
F
(J
J
)
1
N
L
M
0
T
3
4
T
9.55 10
psd1
T
T
4
U
(J
J
)
N
L
M
0
T
5
4
T
9.55 10
T
T
T
6
U
F
(J
J
)
N
L
M
0
T
7
4
T
9.55 10
Inverse efficiency[%]
55
70
85
80
80
85
:Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated speed.
Since the efficiency varies with the speed and torque, allow for about 10%.
:Energy charged into the electrolytic capacitor in the servo amplifier.
tf(1 cycle)
No
Up
t1
t2
T
T
psa1
psd1
1)
( )
(Driving)
2)
4)
3)
(Regenerative)
( )
1
E
T
T
1
U
F
psa1
E
2
T
T
E
U
F
3
E
0 (No regeneration)
4
1
E
T
T
5
U
F
psa2
E
6
1
E
T
T
7
U
F
psd2
Capacitor charging[J]
9
9
11
18
18
40
13 - 2
Time
Down
t3
t4
T
T
psa2
psd2
8)
5)
6)
7)
Energy [J]
0.1047
N
T
T
0
1
psa1
2
0.1047 N
T
t
0
2
1
0.1047
N
T
T
0
3
psd1
2
0.1047
N
T
T
0
5
psa2
2
0.1047 N
T
t
0
6
3
0.1047
N
T
T
0
7
psd2
2
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