Omron OMNUC FND Series User Manual page 189

Operation
The maximum regenerative energy (E
the following formula:
[Unit: J]
E is the larger of E
g
The average regenerative power per cycle of operation can be found by means of the following formula:
[Unit: W]
P = (E + E )/T [W]
r g1 g2
T: Operation cycle [s]
The maximum regenerative energy (E
regeneration absorption capacity of the Driver. If the regeneration absorption capacity is insufficient,
connect a Regeneration Resistor.
Vertical Axis
Motor operation
Motor output
torque
Note In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and
acceleration in the negative direction (falling) is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
E = 1/2 N
g1 1
E = N T
g2 2 L2
E = 1/2 N
g3 2
N , N : Rotation speed at beginning of deceleration [r/min]
1 2
T , T
D1 D2
T : Torque when falling [kgf cm]
L2
t , t : Deceleration time [s]
1 3
t : Travel time equivalent to torque when falling [s]
2
Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi-
mately 90% of the figure derived by the formula.
3-76
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) occurring in any operational section can be found by means of
g
and E
g1 g2.
) and the average regenerative power (P
g
Rising
–2
T t 1.027 10
D1 1
–2
t 1.027 10 [J]
2
–2
T t 1.027 10
D2 3
: Deceleration torque [kgf cm]
Falling
[J]
[J]
Chapter 3
) must not exceed the
r