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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
Regenerative
Torque applied to servo motor [N•m]
power
(J
/η + J
L
T
=
1)
1
9.55 • 10
2)
T
= T
+ T
2
U
F
• η + J
-(J
L
T
=
3)
3
9.55 • 10
4), 8)
T
, T
= T
4
8
U
/ η + J
(J
L
T
=
5)
5
9.55 • 10
6)
T
= -T
+ T
6
U
F
• η + J
-(J
L
T
=
7)
7
9.55 • 10
11 - 5
Up
t
1
t
psa1
1)
(+)
(Power running)
2)
(Regenerative)
(-)
1
) • V
M
•
+ T
+ T
E
U
F
1
t
4
psa1
E
2
1
) • V
M
•
+ T
+ T
E
U
F
3
4
t
psa2
E
4
1
) • V
M
•
- T
+ T
E
U
F
5
t
4
psd2
E
6
1
) • V
M
•
- T
+ T
E
U
F
7
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
psa1
2
= 0.1047 • V • T
• t
2
1
0.1047
=
• V • T
• t
3
psa2
2
, E
≥ 0 (No regeneration)
8
0.1047
=
• V • T
• t
5
psd2
2
= 0.1047 • V • T
• t
6
3
0.1047
=
• V • T
• t
7
psd2
2
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