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14. OPTIONS AND AUXILIARY EQUIPMENT
2) 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 Torque applied to servo motor [N• m]
T
1)
1
2)
T
2
T
3)
3
4), 8)
T
4
T
5)
5
6)
T
6
T
7)
7
Sum total of regenerative 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 Inverse Efficiency[%] Capacitor Charging[J]
MR-J2-10C
MR-J2-20C
MR-J2-40C
MR-J2-60C
MR-J2-70C
MR-J2-100C
MR-J2-200C
MR-J2-350C
Inverse efficiency (
)
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
M
Friction
torque
T
F
T
U
Formulas for Calculating Torque and Energy in Operation
(J
J
)
1
No
L
M
4
T
p
9.55 10
sa1
= T
+ T
U
F
(J
J
)
1
No
L
M
4
T
p
9.55 10
sd1
= T
U
(J
J
)
1
No
L
M
4
Tp
9.55 10
sa2
= T
T
U
F
(J
J
)
1
No
L
M
4
Tp
9.55 10
sd2
55
70
85
85
80
80
85
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 generated torque, allow for about 10%.
tf(1 cycle)
No
Up
t1
t2
T
T
psd1
psa1
1)
( + )
(Driving)
2)
4)
3)
(Regenerative)
(−)
0.1047
T
T
E
U
F
1
2
E
= 0.1047 No T
2
0.1047
T
T
E
No T
U
F
3
2
E
0 (No regeneration)
4
0.1047
T
T
E
U
F
5
2
E
= 0.1047 No T
6
0.1047
T
T
E
U
F
7
2
Sum total of negative energies in 1) to 8)
9
9
11
11
18
18
40
40
14 - 2
Time
Down
t3
t4
T
T
psa2
psd2
8)
5)
6)
7)
Energy [J]
No T
Tp
1
sa1
t
2
1
Tp
3
sd1
No T
Tp
5
sa2
t
6
3
No T
Tp
7
sd2
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