Mitsubishi Electric MELSERVO-J4 MR-J4 TM Instruction Manual page 301

11. OPTIONS AND PERIPHERAL EQUIPMENT
11.2.2 Selection of regenerative option
(1) Rotary servo motor and direct drive motor
Use the following method when regeneration occurs continuously in vertical motion applications or when
it is desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
M
Friction
torque
T
F
T
U
Formulas for calculating torque and energy in operation
Regenerative
Torque applied to servo motor [N•m]
power
(J /η + J
L
M
T =
1)
1
9.55 • 10
2) T = T + T
2 U F
• η + J
-(J
L
T =
3)
3
9.55 • 10
4), 8) T T = T
4, 8 U
(J /η + J
L
T =
5)
5
9.55 • 10
6) T = -T + T
6 U F
• η + J
-(J
L
T =
7)
7
9.55 • 10
11 - 8
Up
t
1
t
psa1
1)
(+)
(Power running)
2)
(Regenerative)
(-)
1
) • V
• + T + T
E
U F 1
4 t
psa1
E
2
1
) • V
M
• + T + T E
U F
3
4 t
psa2
E
4
1
) • V
M
• - T + T
E
U F 5
t
4
psd2
E
6
1
) • V
M
• - T + T E
U F
7
t
4
psd2
tf (1 cycle)
V
Time
Down
t t t
2 3 4
t t
t
psd1 psa2
psd2
4) 8)
5)
6)
3)
7)
Energy E [J]
0.1047
= • V • T • t
1 psa1
2
= 0.1047 • V • T • t
2 1
0.1047
= • V • T • t
3 psa2
2
, E ≥ 0 (No regeneration)
8
0.1047
= • V • T • t
5 psd2
2
= 0.1047 • V • T • t
6 3
0.1047
= • V • T • t
7 psd2
2