Mitsubishi Electric MELSERVO-J3W Series, Инструкция по эксплуатации

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11. OPTIONS AND AUXILIARY EQUIPMENT
11 - 26
(2) Selection of the regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when it is
desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Friction
torque
T
F
T
U
M
Linear servo motor
secondary side (Magnet)
Load
V
M
1
M
2
Linear servo motor
primary side (Coil)
Rotary servo motor Linear servo motor
Un
ba
lance t
orque
t
1
t
2
t
3
T
psa1
T
psd1
T
psa2
T
psd2
t
4
tf (1 cycle)
N
0.
/V
Up/
Positive
direction
Time
1) 2) 3) 4) 5) 6) 7) 8) 9) 10)
t
1
t
2
t
3
T
psa1
T
psd1
T
psa2
T
psd2
t
4
N
0.
/V
Time
T
psa1
T
psd1
A-axis
B-axis
Down/
Negative
direction
Linear s
ervo
m
ot
or
fe
e
ding
speed/
S
ervo
m
ot
or s
pee
d
Up/
Positive
direction
Up/
Positive
direction
Down/
Negative
direction
Formulas for calculating torque and energy in rotary servo motor operation
Regenerative power Torque applied to servo motor [N m] Energy E [J]
1), 8)-B-axis
T
1
(J
L
J
M
)
9.55 10
4
N
0
1
T
psa1
T
U
T
F
E
1
2
0.1047
N
0
T
1
T
psa1
2), 9)-B-axis T
2
T
U
T
F
E
2
0.1047 N
0
T
2
t
1
3), 10)-B-axis
T
3
(J
L
J
M
)
9.55 10
4
N
0
1
T
psd1
T
U
T
F
E
3
2
0.1047
N
0
T
3
T
psd1
4), 5)-A-axis,
9), 10)-A-axis
T
4
T
U
E
4
0 (No regeneration)
5)-B-axis, 6)-A-axis
T
5
(J
L
J
M
)
9.55 10
4
N
0
1
T
psa2
T
U
T
F
E
5
2
0.1047
N
0
T
5
T
psa
2
6)-B-axis, 7)-A-axis T
6
T
U
T
F
E
6
0.1047 N
0
T
6
t
3
7)-B-axis, 8)-A-axis
T
7
(J
L
J
M
)
9.55 10
4
N
0
1
T
psd2
T
U
T
F
E
7
2
0.1047 N
0
T
7
T
psd2
Formulas for calculating thrust and energy in linear servo motor operation
Regenerative power Servo motor thrust [N] Energy E [J]
1), 8)-B-axis F
1
(M
1
M
2
) V/T
psa1
F
t
E
1
V/2 F
1
T
psa1
2), 9)-B-axis F
2
F
t
E
2
V F
2
t
1
3), 10)-B-axis F
3
(M
1
M
2
) V/T
psd1
F
t
E
3
V/2 F
3
T
psd1
4), 5)-A-axis,
9), 10)-A-axis
F
4
0 E
4
0 (No regeneration)
5)-B-axis, 6)-A-axis F
5
(M
1
M
2
) V/T
psa2
F
t
E
5
V/2 F
5
T
psa2
6)-B-axis, 7)-A-axis F
6
F
t
E
6
V F
6
t
3
7)-B-axis, 8)-A-axis F
7
(M
1
M
2
) V/T
psd2
F
t
E
7
V/2 F
7
T
psd2
From the calculation results in 1) to 10), find the absolute value (Es) of the sum total of negative
energies.