Mitsubishi Electric MELSERVO-J3W Series Instruction Manual page 211

11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the 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.
(a) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
secondary side (Magnet)
M
Friction
torque
T
F
T
U
Rotary servo motor
From the calculation results in 1) to 10), find the absolute value (Es) of the sum total of negative
energies.
Linear servo motor
V
Load
M
1
M
2
Linear servo motor
primary side (Coil)
Linear servo motor
Formulas for calculating torque and energy in rotary servo motor operation
Regenerative power
T
1), 8)-B-axis 1
2), 9)-B-axis T
2
T
3), 10)-B-axis 3
4), 5)-A-axis,
T
4
9), 10)-A-axis
T
5)-B-axis, 6)-A-axis
5
6)-B-axis, 7)-A-axis T
6
T
7)-B-axis, 8)-A-axis
7
Formulas for calculating thrust and energy in linear servo motor operation
Regenerative power
1), 8)-B-axis F
1
2), 9)-B-axis F
2
3), 10)-B-axis F
3
4), 5)-A-axis,
F
4
9), 10)-A-axis
5)-B-axis, 6)-A-axis F
5
6)-B-axis, 7)-A-axis F
6
7)-B-axis, 8)-A-axis F
7
1)
A-axis
B-axis
Torque applied to servo motor [N m]
(J J ) 1
N
L M
0
4
T
9.55 10
psa1
T T
U F
(J J )
N 1
L M
0
4
T
9.55 10
psd1
T
U
(J J ) 1
N
L M
0
4 T
9.55 10
psa2
T T
U F
(J J )
1
N
L M
0
4
T
9.55 10
psd2
Servo motor thrust [N]
(M M ) V/T F
1 2 psa1 t
F
t
(M M ) V/T F
1 2 psd1 t
0
(M M ) V/T F
1 2 psa2 t
F
t
(M M ) V/T F
1 2 psd2 t
11 - 26
2) 3) 4) 5) 6) 7)
tf (1 cycle)
Up/
N /V
0.
Positive
direction
Down/
Negative
direction
t t
1 2
T T T
psa1 psd1
Up/
N /V
0.
Positive
direction
Down/
Negative
direction
t t t
1 2 3
T T T
psa1 psd1 psa2
Energy E [J]
0.1047
T T
E
U F
1
2
E 0.1047 N
2
0.1047
T T E
U F
3
2
E 0 (No regeneration)
4
0.1047
T T
E
U F
5
2
E 0.1047 N
6
0.1047
T T
E
U F
7
2
Energy E [J]
E V/2 F
1 1
E V F
2 2
E V/2 F
3 3
E 0 (No regeneration)
4
E V/2 F
5 5
E V F
6 6
E V/2 F
7 7
8) 9) 10)
Time
t t
3 4
T
psa2 psd2
Up/
Positive
direction
Time
t
4
T T T
psd2 psa1 psd1
N T T
0
1 psa1
T t
0 2 1
N T T
0 3 psd1
N T T
0
psa
5 2
T t
0 6 3
N T T
0
7 psd2
T
psa1
t
1
T
psd1
T
psa2
t
3
T
psd2