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4-47
4-4 Regenerative Energy Absorption
4
System Design
Vertical Axis
• In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and
acceleration in the negative direction (falling) is shown as negative.
• The regenerative energy values in each region can be derived from the following equations.
Note
Due to the loss of winding resistance, the actual regenerative energy will be approximately
90% of the values derived from these equations.
• For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e.,
models of 400 W or less.), the values for both E
g1
or E
g2
+ E
g3
(unit: J) must be lower than the
Servo Drive’s regenerative energy absorption capacity. (The capacity depends on the model. For
details, refer to
Servo Drive Regenerative Energy Absorption Capacity
• For Servo Drive models with an internal regeneration resistor used for absorbing regenerative
energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be
calculated, and this value must be lower than the Servo Drive’s regenerative energy absorption
capacity. (The capacity depends on the model. For details, refer to
The average regeneration power (Pr) is the regeneration power produced in one cycle of operation
[W].
t
1
t
2
t
3
T
E
g1
E
g3
g3
E
g3
T
D2
T
L2
T
D1
E
g2
Servomotor
operation
Servomotor
output torque
Rising
Falling
+N
1
−
N
2
N
1
, N
2
: Rotation speed at beginning of deceleration [r/min]
T
D1
, T
D2
: Deceleration torque [N·m]
T
L2
:
Torque when falling [N·m]
t
1
, t
3
:
Deceleration time [s]
t
2
:
Constant-velocity travel time when falling [s]
2
E
g
1
E
g
=
P
r
(
+
) / T [W]
T: Operation cycle [s]
2
E
g
+
Summary of Contents for R88D-GT series
Page 20: ...18 Table of Contents ...
Page 234: ...3 133 3 8 Reactor Specifications 3 Specifications ...
Page 448: ...7 37 7 5 Manual Tuning 7 Adjustment Functions ...
Page 474: ...8 25 8 5 Periodic Maintenance 8 Troubleshooting ...
Page 475: ...Chapter 9 Appendix 9 1 Connection Examples 9 1 9 2 Parameter Tables 9 11 ...
Page 509: ......