Mitsubishi Electric MR-J2S-CP Instruction Manual page 259

14. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
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
Use the following table to calculate the regenerative energy.
Regenerative power
1)
2)
3)
4), 8)
5)
6)
7)
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
MR-J2S-10CP
MR-J2S-10CP1
MR-J2S-20CP
MR-J2S-20CP1
MR-J2S-40CP
MR-J2S-40CP1
MR-J2S-60CP
MR-J2S-70CP
MR-J2S-100CP
MR-J2S-200CP
MR-J2S-350CP
MR-J2S-500CP
MR-J2S-700CP
M
Firiction
torque
T
F
T
U
Formulas for calculating torque and energy in operation
Torque applied to servo motor [N m]
(J J )
N
L M
0
T
1
4
9.55 10
T T T
2 U F
(J J )
N
L M
0
T
3
4
9.55 10
T T
4 U
(J J )
N
L M
0
T
5
4
9.55 10
T T T
6 U F
(J J )
N
L M
0
T
7
4
9.55 10
Inverse efficiency[%]
55
55
70
70
85
85
85
80
80
85
85
90
90
tf(1 cycle)
N0
Up
t1 t2
T T
psa1 psd1
1)
( )
(Driving)
2)
4)
3)
(Regenerative)
( )
1
T T E
U F 1
T
psa1
E
2
1
T T E
U F 3
T
psd1
E 0 (N0 regeneration)
4
1
T T E
U F
5
T
psa2
E
6
1
T T E
U F
7
T
psd2
Capacitor charging[J]
9
4
9
4
11
12
11
18
18
40
40
45
70
14 - 2
Time
Down
t3 t4
T T
psa2 psd2
8)
5)
6)
7)
Energy [J]
0.1047
N T T
0 1 psa1
2
0.1047 N T t
0 2 1
0.1047
N T T
0 3 psd1
2
0.1047
N T T
0 5 psa2
2
0.1047 N T t
0 6 3
0.1047
N T T
0 7 psd2
2