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4 Configuration and Wiring
4 - 46
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
Regenerative energy calculation for a vertical axis is explained.
• In the output torque graph, acceleration in the rising direction is shown as positive (+), and accelera-
tion in the falling direction is shown as negative (-).
• The regenerative energy values in each region can be calculated from the following equations.
Note Due to the loss from winding resistance, the actual regenerative energy will be approximately 90% of the
values calculated from these equations.
Motor operation
Motor output torque
+N1
- N2
t 1
t 2
t 3
T
Eg1
Eg22
Upward movement
Downward movement
TD2
TL2
TD1
Eg21
N 1, N 2
: Rotation speed at start of deceleration [r/min]
: Deceleration torque [N·m]
: Torque during downward movement [N·m]
: Deceleration time [s]
: Constant-speed driving time during downward movement [s]
T D1, TD2
t1, t3
T L2
t2
Summary of Contents for R88D-1SN01H-ECT
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