11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 10
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
M
Friction
torque
U
nbalanced tor
que
T
F
T
U
Ser
vo motor
speed
Gener
ated tor
que
Time
Up
V
tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regeneration)
t
psd2
t
2
t
3
t
4
t
1
t
psa2
t
psd1
t
psa1
1)
2)
3)
4)
5)
6)
7)
8)
Formulas for calculating torque and energy in operation
Regenerative
power
Torque applied to servo motor [N•m]
(Note)
Energy E [J]
1)
T
1
=
(J
L
/
η
+ J
M
) • V
9.55 • 10
4
•
t
psa1
1
+ T
U
+ T
F
E
1
=
2
0.1047
• V • T
1
• t
psa1
2) T
2
= T
U
+ T
F
E
2
= 0.1047 • V • T
2
• t
1
3)
T
3
=
-(J
L
•
η
+ J
M
) • V
9.55 • 10
4
•
t
psd1
1
+ T
U
+ T
F
E
3
=
2
0.1047
• V • T
3
• t
psd1
4), 8)
T
4
, T
8
= T
U
E
4
, E
8
= 0 (No regeneration)
5)
T
5
=
(J
L
/
η
+ J
M
) • V
9.55 • 10
4
•
t
psa2
1
- T
U
+ T
F
E
5
=
2
0.1047
• V • T
5
• t
psa2
6) T
6
= -T
U
+ T
F
E
6
= 0.1047 • V • T
6
• t
3
7)
T
7
=
-(J
L
•
η
+ J
M
) • V
9.55 • 10
4
•
t
psd2
1
- T
U
+ T
F
E
7
=
2
0.1047
• V • T
7
• t
psd2
Note.
η
: Drive system efficiency
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
Summary of Contents for MR-J4-100A(-RJ)
Page 19: ...10 MEMO ...
Page 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Page 83: ...2 INSTALLATION 2 8 MEMO ...
Page 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Page 203: ...4 STARTUP 4 44 MEMO ...
Page 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Page 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Page 387: ...9 DIMENSIONS 9 22 MEMO ...
Page 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Page 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Page 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Page 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Page 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Page 856: ...APPENDIX App 41 ...
Page 905: ...MEMO ...