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4-3 Regenerative Energy Absorption
4-3-1 Calculating the Regenerative Energy
•
Since there is an internal capacitor to absorb regenerative energy, the value for Eg1 a
Eg2 (unit: J) must be lower than the Servo Driver’s regenerative energy absorption
capacity. (The capacity varies depending on the model. For details, refer to
4-3-2 Serv
Driver Regenerative E
If an external Regeneration Resistance Unit is connected, be sure that the average
regeneration power (Pr) does not exceed the external Regeneration Resistance Unit’s
regenerative energy abs
nd
o
nergy Absorption Capacity
.)
orption capacity (12 W).
Vertical Axis
Rising
Falling
Servomotor
operation
Servomotor
output torque
Note: 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.
1
1
1
1
60
2
2
1
t
T
N
E
D
g
∗
∗
∗
∗
=
π
[J]
[J]
1
1
1
0524
.
0
t
T
N
D
∗
∗
∗
=
2
2
2
2
60
2
t
T
N
E
L
g
∗
∗
∗
=
π
[J]
=
[J]
2
2
2
105
.
0
t
T
N
L
∗
∗
∗
3
2
2
3
60
2
2
1
t
T
N
E
D
g
∗
∗
∗
∗
=
π
[J]
[J]
3
2
2
0524
.
0
t
T
N
D
∗
∗
∗
=
N
1
, N
2
:
T
D1
, T
D2
:
T
L2
:
t
1
, t
3
:
t
2
:
Rotation speed at beginning of deceleration [r/min]
Deceleration torque [N
⋅
m]
Torque when falling [N
⋅
m]
Deceleration time [s]
Constant-velocity travel time when falling [s]
Note: There is some loss due to winding resistance, so the actual regenerative energy will be
approximately 90% of the values derived from these equations.
•
The average regeneration power (Pr) is the power consumed by regeneration
resistance in one cycle of operation.
[W]
T
E
E
E
g
g
g
/
)
(
Pr
3
2
1
+
+
=
T: Operation cycle [s]
4-22
Summary of Contents for SMARTSTEP Junior R7D-ZP
Page 3: ...2 ...
Page 18: ...Section 1 Configuration Features and System ...
Page 25: ...1 5 Applicable Standards 1 5 2 UL and cUL Standards 1 8 ...
Page 26: ...Section 2 Dimensions Standard Models and ...
Page 36: ...Section 3 Specifications ...
Page 62: ...Section 4 System Design ...
Page 86: ...Section 5 Operation ...
Page 96: ...Section 6 Troubleshooting ...
Page 109: ...6 5 Periodic Maintenance 6 5 3 Replacing the Cooling Fan 6 14 ...
Page 110: ...Appendix ...