Selection Of Regenerative Option - Mitsubishi Electric MR-JE-_A Instruction Manual

11. OPTIONS AND PERIPHERAL EQUIPMENT

11.2.2 Selection of regenerative option

Use the following method when regeneration occurs continuously in vertical motion applications or when
selecting the regenerative option in details.
(1) Regenerative energy calculation
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
M
Friction
torque
T
F
T
U
Formulas for calculating torque and energy in operation
Torque applied to servo motor [N•m]
Regenerative
power
(J /η + J
L
T =
1)
1
9.55 • 10
2) T = T + T
2 U F
• η + J
-(J
L
3) T =
3
9.55 • 10
4), 8) T , T = T
4 8 U
(J /η + J
L
T =
5)
5
9.55 • 10
6) T = -T + T
6 U
• η + J
-(J
L
7) T =
7
9.55 • 10
Note. η: Drive system efficiency
11 - 5
Up
t
1
t
psa1
1)
(+)
(Power running)
2)
(Regeneration)
(-)
(Note)
1
) • V
M
• + T + T E
U F
t
4
psa1
E
1
) • V
M
• + T + T E
U F
4 t
psd1
E
1
) • V
M
• - T + T E
U F
t
4
psa2
E
F
1
) • V
M
• - T + T E
U F
4 t
psd2
tf (1 cycle)
V
Time
Down
t t t
2 3 4
t t t
psd1 psa2 psd2
4) 8)
5)
6)
3)
7)
Energy E [J]
0.1047
= • V • T • t
1 1 psa1
2
= 0.1047 • V • T • t
2 2 1
0.1047
= • V • T • t
3 3 psd1
2
≥ 0 (No regeneration)
, E
4 8
0.1047
= • V • T • t
5 5 psa2
2
= 0.1047 • V • T • t
6 6 3
0.1047
= • V • T • t
7 7 psd2
2