Mitsubishi Electric MR-J2S-A Instruction Manual page 231

13. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below.
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the permissible duty changes according to the inertia moment of
the load and can be calculated by the following formula.
Permissible duty for servo motor with no load (value indication Section 5.1 in Servo Motor Instruction Manual)
Permissible
duty
where m
From the permissible duty, find whether the regenerative option is required or not.
Permissible duty
Select the regenerative option out of the combinations in (1) in this section.
(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 option.
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Friction
torque
Formulas for calculating torque and energy in operation
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.
2
ratedspeed
[times/min]
running speed
load inertia moment/servo motor inertia moment
number of positioning times [times/min]
M
( )
T
F
T
U
( )
Torque applied to servo motor [N m]
(J J ) 1
N
L M
0
T
1
4
T
9.55 10
psa1
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 ) 1
N
L M
0
T
5
4
T
9.55 10 psa2
T T T
6 U F
(J J ) 1
N
L M
0
T
7
4
T
9.55 10
psd2
13 - 2
WWW.NNC.IR
(m 1)
tf(1 cycle)
No
Up
Down
t1 t2 t3
T T T
psd1 psa2
psa1
1)
(Driving)
2)
4)
5)
6)
3)
7)
(Regenerative)
Energy [J]
0.1047
E
T T N
1
U F
2
E 0.1047 N
2 0
0.1047
E
T T N
3
U F
2
E 0 (No regeneration)
4
0.1047
E
T T N
5
U F
2
E 0.1047 N
6 0
0.1047
E
N
T T
7
U F
2
Time
t4
T
psd2
8)
T T
0 1 psa1
T t
2 1
T T
0 3 psd1
T T
0 5 psa2
T t
6 3
T T
0
7 psd2