Mitsubishi Electric MELSERVO-J2-Super Series, Transition Handbook

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[Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20
Appendix 1-59
13.5.2 Regenerative option selection
Select by the following method when regeneration is continuously generated on the vertical axis or when a
regenerative option is selected in detail.
(1) Calculation of regenerative energy
Formula to calculate torque and energy during operation
Regenerative
power
Torque T [N•m] imposed on servo motor Energy E [J]
1)
T
1
=
9.55 • 10 4
(J
L
/
η
+ J
M
) • V
•
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
=
9.55 • 10 4
-(J
L
•
η
+ J
M
) • V
•
t
psa2
1
+ T
U
+ T
F
E
3
=
2
0.1047
• V • T
3
• t
psa2
4), 8) T
4
，
T
8
= T
U
E
4
，
E
8
≧
0 (no regeneration)
5)
T
5
=
9.55 • 10 4
(J
L
/
η
+ J
M
) • V
•
t
psd2
1
- T
U
+ T
F
E
5
=
2
0.1047
• V • T
5
• t
psd2
6) T
6
= -T
U
+ T
F
E
6
= 0.1047 • V • T
6
• t
3
7)
T
7
=
9.55 • 10 4
-(J
L
•
η
+ J
M
) • V
•
t
psd2
1
- T
U
+ T
F
E
7
=
2
0.1047
• V • T
7
• t
psd2
Determine the absolute value (Es) of the total sum of negative energy from the calculation results 1) to
8).
t
1
t
2
t
3
t
psa1
t
psd1
t
psa2
t
psd2
t
4
tf
V
(+)
(-)
1)
2) 4)
5)
3)
6)
8)
7)
Servo moto
r spe
ed
(1 cycle)
Raise
Drop
Time
(Power
running)
(Regeneration)
To
rq
ue
T
F
T
U
M
Friction
torque
Unbalance torqu
e