Mitsubishi Electric Melservo MR-J3-A Instruction Manual page 296

12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
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.
M
Friction
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 T
9.55 10
T T T
2
U F
(J J )
N
L M
0
T
3
4 T
9.55 10
T T
4
U
(J J )
N
L M
0
T
5
4
T
9.55 10
T T T
6
U F
(J J )
N
L M
0
T
7
4 T
9.55 10
tf(1 cycle)
No
Up
t1 t2
T T
psd1
psa1
1)
( )
(Driving)
2)
4)
3)
(Regenerative)
( )
1
E
T T
1
U F
psa1
E
2
1
E
T T
3
U F
psd1
E 0 (No regeneration)
4
1
E
T T
5
U F
psa2
E
6
1
E
T T
7
U F
psd2
12 - 23
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