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12 Appendix
12.1.3 Calculating the Required Capacity of Regenerative Resistors
(a) Calculation Procedure
The procedure for calculating the regenerative capacity is as follows:
Step
Calculate the rotational energy of the servo-
1
motor.
Calculate the energy consumed by load loss
2
during the deceleration period.
Calculate the energy lost from servomotor
3
winding resistance.
Calculate the SERVOPACK energy that can
4
be absorbed.
Calculate the energy consumed by the regen-
5
erative resistor.
Calculate the required regenerative resistor
6
capacity (W).
Note: 1. The "0.2" in the equation for calculating W
utilized load ratio is 20%.
2. The units for the various symbols are as follows:
E
T
W
t
D
J: (= J
T: Servomotor repeat operation period (s)
N
If the above calculation determines that the amount of regenerative power (Wk) processed by the built-in
resistor is not exceeded, then an external regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is exceeded, then install an
external regenerative resistor for the capacity obtained from the above calculation.
If the energy consumed by load loss (in step 2 above) is unknown, then perform the calculation using E
When the operation period in regeneration mode is continuous, add the following items to the above calcula-
tion procedure in order to find the required capacity (W) for the regenerative resistor.
• Energy for continuous regeneration mode operation period: E
• Energy consumed by regenerative resistor: E
• Required capacity of regenerative resistor: W
Here, E
= (2
G
• t
: Same operation period (s) as above
G
• T
: Servomotor's generated torque (N·m) in continuous regeneration mode operation period
G
• N
: Servomotor rotation speed (min
MG
12-10
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Item
to E
: Energy joules (J)
S
K
: Load torque (N·m)
L
: Regenerative resistor required capacity (W)
K
: Deceleration stopping time (s)
2
+ J
)(kg·m
)
M
L
: Servomotor rotation speed (min
M
π
/60) N
T
t
MG
G
G
Symbol
E
E
= JN
S
S
E
E
= (π/60) N
L
L
(Value calculated from "(b) Servo-
E
motor Winding Resistance Loss"
M
diagrams)
Calculate from "(3) SERVO-
E
PACK's Absorbable Energy" dia-
C
grams.
E
E
= E
K
K
W
W
= E
K
K
is the value for when the regenerative resistor's
K
-1
)
(joules)
G
= E
- (E
+ E
+ E
K
S
L
M
/ (0.2 × T)
= E
K
K
-1
) for same operation period as above
Equation
2
/182
M
T
t
M
L
D
×
t
D
− (E
+E
+E
)
S
L
M
C
×
/ (0.2
T)
K
) + E
C
G
= 0.
L
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