Selection Of Regenerative Option - Mitsubishi Electric MR-J4W2-0303B6 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 it is
desired to make an in-depth selection of the regenerative option.
(1) Regenerative energy calculation
secondary-side (magnet)
M
V
Friction
torque
T
F
T
U
Rotary servo motor
The following shows equations of the rotary servo motor torque and energy at the driving pattern above.
The following shows equations of the linear servo motor thrust and energy.
Linear servo motor
V
M
1
M
2
Linear servo motor
primary-side (coil)
Linear servo motor
Section
T
1)
2) T
T
3)
4), 8) T
T
5)
6) T
7) T
Note. η: Drive system efficiency
Section
1) F
2) F
3) F
4), 8) F
5) F
6) F
7) F
Servo motor speed
Linear servo motor feed speed
V
1)
Up/
Load
Positive
F
direction
t
t
psa1
Torque applied to servo motor [N•m]
(Note)
/ η + J
1
(J ) • V
L M
= • + T
1 U
t
4
9.55 × 10
psa1
= T + T
2 U F
• η + J 1
- (J ) • V
L M
= • + T
3
t
9.55 × 10 4
psd1
, T = T
4 8 U
/ η + J
1
(J ) • V
L M
= • - T
5 U
t
9.55 × 10 4
psa2
= - T + T
6 U F
• η + J
1
- (J ) • V
L M
= • - T
7
t
9.55 × 10 4
psd2
Thrust F of linear servo motor [N]
= (M + M ) • V / t + F
1 1 2 psa1 t
= F
2 t
= - (M + M ) • V / t + F
3 1 2 psd1 t
, F = 0
4 8
= (M + M ) • V / t + F
5 1 2 psa2 t
= F
6 t
= - (M + M ) • V / t + F
7 1 2 psd2 t
11 - 8
2)
3)
4)
Down/
Negative
direction
5)
6)
t t t t t
1 psd1 2 psa2 3
Energy E [J]
0.1047
+ T E = • V • T
F 1
2
E = 0.1047 • V • T
2 2
0.1047
+ T E = • V • T
U F 3
2
E , E ≥ 0 (No regeneration)
4 8
0.1047
+ T E = • V • T
F 5
2
E = 0.1047 • V • T
6 6
0.1047
+ T E = • V • T
U F 7
2
Energy E [J]
E = V / 2 • F • t
1 1 psa1
E = V • F • t
2 2 1
E = V / 2 • F • t
3 3 psd1
E , E = 0 (No regeneration)
4 8
E = V / 2 • F • t
5 5 psa2
E = V • F • t
2 6 3
E = V / 2 • F • t
7 7 psd2
8)
Time
7)
t t
psd2 4
• t
1 psa1
• t
1
• t
3 psd1
• t
5 psa2
• t
3
• t
7 psd2