Omron ACCURAX G5 User Manual page 261

Vertical Axis
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.
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.
For driver models with internal capacitors used for absorbing regenerative energy (i.e., models of
400 W or less), the values for both Eg
regeneration absorption capacity. (The capacity depends on the model.For details, refer to the
next section.)
For driver models with an Internal Regeneration Resistor used for absorbing regenerative energy
(i.e., 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 driver's regeneration absorption capacity. (The
capacity depends on the model.For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
=
P
r
T: Operation cycle [s]
Accurax G5 AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
+N
1
Upward movement
T
D1
E
g1
t
1
1
+
+
( E E E ) / T [W]
g 1 g 2 g 3
4-4 Regenerative Energy Absorption
Downward movement
−N
2
T
D2
E
g2
E E
g3 g3 g3
T
L2
t t
2 3
T
[N·m]
[N·m]
[s]
+ Eg
or Eg (unit: J) must be lower than the driver's
2 3
4
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