Omron R88M-K Series User Manual page 215

Vertical Axis
Motor operation
Motor output torque
In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and
acceleration in the reverse direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
N , N : Rotation speed at start of deceleration [r/min]
2
1
Deceleration torque
T , T :
D2
D1
Torque during downward movement
T
:
L2
t , t : Deceleration time
3
1
t : Constant-speed driving time during downward movement [s]
2
Note: Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the
values derived from these equations.
For
Servo Drive
Servo Drive models of 400 W or less), the values Eg
the drive's regeneration absorption capacity. (The capacity depends on the model. For details,
refer to the next section.)
For Servo Drive
energy (i.e., Servo Drive models of 500 W or more), the average amount of regeneration Pr (unit:
W) must be calculated, and this value must be lower than the drive's regeneration absorption
capacity. (The capacity depends on the model.For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
=
P
r
T: Operation cycle [s]
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
+N
1
Upward movement
T
D1
E
g1
t
1
models with internal capacitors used for absorbing regenerative energy (i.e.,
models with an Internal Regeneration Resistor used for absorbing regenerative
+
+
( E E E ) / T [W]
g 1 g 2 g 3
4-4 Regenerative Energy Absorption
Downward movement
−N
2
T
D2
E
g2
E E
g3 g3
T
L2
t t
2 3
T
[N·m]
[N·m]
[s]
+ Eg
and Eg (unit: J) must be lower than
1 2 3
4
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