Mitsubishi Electric MR-J4 TM Series, Instruction Manual

Page: 335 / 594

11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 8
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
nbalance tor
que
T
F
T
U
Ser
vo motor
speed
Gener
ated tor
que
Time
Up
V
tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regenerative)
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.