Omron R88D-KTA5L User Manual page 323

The method for calculating regenerative energy on the vertical axis is indicated below.
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.
E
g21
E
g22
E
E
g21
g2
N , N : Rotation speed at start of deceleration [r/min]
1 2
T , T : Deceleration torque
D1 D2
: Torque during downward movement
T
L2
t , t : Deceleration time
1 3
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
+N
1
Upward movement
T
D1
E
g1
t
1
+ E
g22
4-4 Regenerative Energy Absorption
Downward movement
−N
2
T
D2
E
g21
E E E
g22 g22 g22
T
L2
t t
2 3
T
[N·m]
[N·m]
[s]
4
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