Mitsubishi Electric MR-J4W2, Instruction Manual

Page: 238 / 542

11. OPTIONS AND AUXILIARY EQUIPMENT
11 - 9
11.2.2 Selection of 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.
(1) Regenerative energy calculation
Unbalance torque
Friction
torque
M
T
F
T
U
V
Rotary servo motor
Linear servo motor
secondary-side (magnet)
Load
V
M
1
M
2
Linear servo motor
primary-side (coil)
Linear servo motor
F
t
2)
1)
V
3)
4)
Up/
Positive
direction
6)
5) 7)
Down/
Negative
direction
8)
Time
Servo motor speed
Linear servo motor feed speed
t
psa1
t
1
t
psd1
t
2
t
psa2
t
3
t
4
t
psd2
The following shows equations of the rotary servo motor torque and energy at the driving pattern above.
Section Torque applied to servo motor [N•m] 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
=
- (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
The following shows equations of the linear servo motor thrust and energy.
Section Thrust F of linear servo motor [N] Energy E [J]
1) F
1
= (M
1
+ M
2
) • V / t
psa1
+ F
t
E
1
= V / 2 • F
1
• t
psa1
2) F
2
= F
t
E
2
= V • F
2
• t
1
3) F
3
= - (M
1
+ M
2
) • V / t
psd1
+ F
t
E
3
= V / 2 • F
3
• t
psd1
4), 8) F
4
, F
8
= 0 E
4
, E
8
= 0 (No regeneration)
5) F
5
= (M
1
+ M
2
) • V / t
psa2
+ F
t
E
5
= V / 2 • F
5
• t
psa2
6) F
6
= F
t
E
2
= V • F
6
• t
3
7) F
7
= - (M
1
+ M
2
) • V / t
psd2
+ F
t
E
7
= V / 2 • F
7
• t
psd2