Mitsubishi Electric MR-J5 Series User Manual page 143

Regenerative Torque applied to servo motor [N•m]
power
1)
(J /η + J
L
T =
1
9.55 • 10
2) T = T
2 L
3)
-(J • η + J
L
T =
3
9.55 • 10
4), 8) T , T = 0
4 8
5)
(J /η + J
L
T =
5
9.55 • 10
6) T = T
6 L
7)
-(J • η + J
L
T =
7
9.55 • 10
*1 Load torque converted into equivalent value on servo motor shaft TL can be calculated with the following formula.
T = {(F + (μ × W × g)) × ΔS} / (2000 × π × η)
L C L
*2 Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following formula.
J = J + J + J
L L1 L2 L3
J is the load moment of inertia of the moving part, J
L1
inertia of the coupling. J and J
L1
2
J = W × (ΔS / (20 × π))
L1 L
J = {(π × 0.0078 × (L / 10)) / 32} × (D
L2 B
■Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
Servo amplifier
MR-J5W2-22G
MR-J5W2-44G
MR-J5W2-77G
MR-J5W2-1010G
MR-J5W3-222G
MR-J5W3-444G
Inverse efficiency (η ): Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative)
m
torque is generated at rated speed. Efficiency varies with the speed and generated torque. Since the characteristics of the
electrolytic capacitor change with time, allow for approximately 10 % higher inverse efficiency.
Capacitor charging (Ec): Energy charged into the electrolytic capacitor in the servo amplifier
*1*2
) • N 1
M
•
+ T
L
4
t
psa1
) • N 1
M
• + T
L
4
t
psd1
) • N 1
M
• + T
L
4
t
psa2
) • N 1
M
• + T
L
4
t
psd2
is the load moment of inertia of the ball screw, and J
L2
can be calculated with the following formulas.
L2
4
/ 10)
B
Inverse efficiency [%]
85
90
90
90
85
90
Energy E [J]
0.1047
• N • T • t
E =
1 psa1
1
2
E = 0.1047 • N • T • t
2 2 1
0.1047
E = • N • T • t
3 3 psd1
2
E , E = 0 (No regeneration)
4 8
0.1047
• N • T • t
E =
5 5 psa2
2
E = 0.1047 • N • T • t
6 6 3
0.1047
E = • N • T • t
7 7 psd2
2
Capacitor charging [J]
17
21
44
44
21
31
6 OPTIONS AND PERIPHERAL EQUIPMENT
6.2 Regenerative option
is the load moment of
L3
141
6