Omron G5 Series User Manual page 264

4 System Design
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
1
T , T
D1
T
L2
t , t
1
t
2
Note Due to the loss of winding resistance, the actual regenerative energy will be approximately 90%
of the values derived from these equations.
• For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e., Servo
Drive models of 400 W or less), the values E
regeneration absorption capacity. (The capacity depends on the model. For details, refer to the next
section.)
• For Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative
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]
4 - 40
+ N
1
Upward movement
T
D1
E
g1
t
1
: Rotation speed at start of deceleration [r/min]
2
: Deceleration torque [N•m]
D2
: Torque during downward movement [N•m]
: Deceleration time
3
: Constant-speed driving time during downward movement [s]
( E + E + E ) / T [W]
g 1 g 2 g 3
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User's Manual
Downward movement
– N
2
T
D2
E
g2
E E
g3 g3
T
L2
t t
2 3
T
and E + E (unit: J) must be lower than the drive's
g1 g2 g3