Mitsubishi Electric MELSERVO MRJ2S-B, Инструкция по эксплуатации

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Accessories Optional accessories
7 - 4
●
Regenerative energy calculation
Use the following method (refer tab. 7-3) when regeneration occurs continuously in vertical
motion applications or when it is desired to make an in-depth selection of the regenerative brake
option.
S000634C
Fig. 7-1: Regenerative energy
Regenerative
energy
Torque applied to servo motor [Nm] Energy [J]
,
Absolute value of the sum total of negative energies
Tab. 7-3: Equations for calculating torque and energy in operation
M
T
F
T
U
t1 t2 t3 t4
No
(+)
( )
−
tf (1 cycle)
up
generative
regenerative
Time
Time
Gener
ated
tor
q
ue
Ser
v
o motor speed
Unbalance torque
F
ric
tion tor
q
ue
T
1
J
L
J
M
+
( )
N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psa1
--------------- T
U
T
F
+ +
×
=
E
1
0.1047
2
------------------
N
0
T
1
T
Psa1
× × ×
=
T
2
T
U
T
F
+ =
E
2
0.1047 N
0
T
2
t
1
× × ×
=
T
3
J
L
J
M
+
( )
N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psd1
--------------- T
U
T
F
+ +
×
=
E
3
0.1047
2
------------------
N
0
T
3
T
Psd1
× × ×
=
T
4
T
U
=
E
4
0
≥
T
5
J
L
J
M
+
( )
N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psa2
--------------- T
U
– T
F
+
×
=
E
5
0.1047
2
------------------
N
0
T
5
T
Psa2
× × ×
=
T
6
T
U
T
F
+ =
E
6
0.1047 N
0
T
6
t
3
× × ×
=
T
7
J
L
J
M
+
( )
N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psd2
--------------- T
U
– T
F
+
×
=
E
7
0.1047
2
------------------ N
0
T
7
T
Psd2
× × ×
=