Omron OMNUC G5 Series User Manual page 170

4-4 Regenerative Energy Absorption
Vertical Axis
Motor operation
Motor output torque
4
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
T
T
Note: Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the
For
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
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.)
4-33
+N
1
Upward movement
E
g1
, N : Rotation speed at start of deceleration [r/min]
2
1
Deceleration torque
, T :
D2
D1
Torque during downward movement
:
L2
t , t : Deceleration time
3
1
t : Constant-speed driving time during downward movement [s]
2
values derived from these equations.
models with internal capacitors used for absorbing regenerative energy (i.e.,
Servo Drive
Servo Drive models with an Internal Regeneration Resistor used for absorbing regenerative
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
=
+
P +
( E E E
r g 1 g 2
T: Operation cycle [s]
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Downward movement
−N
2
E
g2
T
D1
t
1
T
[N·m]
[N·m]
[s]
and Eg
1
) / T [W]
g 3
T
D2
E E
g3 g3
T
L2
t t
2 3
+ Eg
(unit: J) must be lower than
2 3