Omron R88M-1M Series User Manual page 431

Regenerative energy calculation for a vertical axis is explained.
Motor operation
Motor output torque
• In the output torque graph, acceleration in the rising direction is shown as positive (+), and accelera-
tion in the falling direction is shown as negative (-).
• The regenerative energy values in each region can be calculated from the following equations.
N 1 , N 2
: Rotation speed at start of deceleration [r/min]
TD1 , TD2 : Deceleration torque [N·m]
TL2 : Torque during downward movement [N·m]
: Deceleration time [s]
t1 , t3
: Constant-speed driving time during downward movement [s]
t2
Note Due to the loss from winding resistance, the actual regenerative energy will be approximately 90% of the
values calculated from these equations.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
+N1
Upward movement
TD1
Eg1
t 1
4 Configuration and Wiring
Downward movement
- N2
TD2
Eg21
Eg22
TL2
t 2 t 3
T
4
4 - 73