3-28
Horizontal Axle
Motor operation
Motor output
torque
Note In the output torque graph, when the rotation direction and the torque direction match it is shown
as positive.
The regenerative energy for each section can be found by means of the following formulas:
E
g1
= 1/2
N
1
T
D1
t
1
1.027
×
10
–2
[J]
E
g2
= 1/2
N
2
T
D2
t
2
1.027
×
10
–2
[J]
N
1
, N
2
: Rotation speed at beginning of deceleration [r/min]
T
D1
, T
D2
: Deceleration torque [kgf
cm]
t
1
, t
2
: Deceleration time [s]
Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi-
mately 90% of the figure derived by the formula.
The maximum regenerative energy for the Servo Driver’s internal capacitors only can be found by
means of the following formula:
E
g
= (E
g1
, E
g2
) [J]
E
g
is the larger of E
g1
and E
g2.
When regenerative energy is absorbed at the Servo Driver only, E
g
must not exceed the amount of re-
generative energy that can be absorbed at the Servo Driver. In addition, the average regenerative pow-
er when a Regeneration Unit is connected can be found by means of the following formula:
P
r
= (E
g1
+ E
g2
)/T [W]
T: Operation cycle [s]
E
g
must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the
Servo Driver is used to absorb regenerative energy. When a Regeneration Unit is connected, the aver-
age regenerative power (P
t
) must not exceed the regeneration processing power of the Regeneration
Unit.
Connect an external regeneration resistor when the regeneration processing power of the Regenera-
tion Unit (12 W) is exceeded. Refer to
3-8-3 Absorption of Regenerative Energy with the External Re
-
generation Resistor for details on external regeneration resistors.
Operation
Chapter 3
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