Mitsubishi Electric MR-JE-_A, Instruction Manual

Page: 278 / 370

11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 5
11.2.2 Selection of regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when
selecting the regenerative option in details.
(1) 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
=
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
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
=
9.55 • 10 4
(J
L
/
η
+ J
M
) • V
•
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
=
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
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.