Mitsubishi Electric MELSERVO-J4 series, Инструкция по эксплуатации

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11 OPTIONS AND PERIPHERAL EQUIPMENT
11.2 Regenerative options
*1 Load torque converted into equivalent value on servo motor shaft TL can be calculated with the following expression.
T
L
= {(F
C
+ (
 
W
L

g))
 
S} / (2000
  
η )
*2 Load moment of inertia converted into equivalent value on servo motor shaft JL can be calculated with the following expression.
J
L
= J
L1
+ J
L2
+ J
L3
J
L1
is the load moment of inertia of the moving part, J
L2
is the load moment of inertia of the ball screw, and J
L3
is the load moment of
inertia of the coupling. J
L1
and J
L2
can be calculated with the following expressions.
J
L1
= W
L

(

S / (20
 
))
2
J
L2
= {(
 
0.0078

(L
B
/ 10)) / 32}

(D
B
/ 10)
4
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.
Regenerative
power Torque applied to servo motor [N•m]
*1*2
Energy E [J]
1)
2) T
2
= T
L
E
2
= 0.1047 • N • T
2
• t
1
3)
4), 8) T
4
, T
8
= 0 E
4
, E
8
= 0 (No regeneration)
5)
6) T
6
= T
L
E
6
= 0.1047 • N • T
6
• t
3
7)
(J
L
/ η
+ J
M
) • N
9.55 • 10 4 t
psa1
1
• T
1
= + T
L
2
0.1047
E
1
= • N • T
1
• t
psa1
-(J
L
• η + J
M
) • N
9.55 • 10
4
t
psd1
1
• T
3
= + T
L
2
0.1047
E
3
= • N • T
3
• t
psd1
(J
L
/ η
+ J
M
) • N
9.55 • 10 4 t
psa2
1
• T
5
= + T
L
2
0.1047
E
5
= • N • T
5
• t
psa2
-(J
L
• η + J
M
) • N
9.55 • 10 4 t
psd2
1
• T
7
= + T
L
2
0.1047
E
7
= • N • T
7
• t
psd2