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11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 10
11.2.2 Selection of regenerative option
(1) Rotary servo motor and direct drive motor
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
M
Friction
torque
U
nbalanced tor
que
T
F
T
U
Ser
vo motor
speed
Gener
ated tor
que
Time
Up
V
tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regeneration)
t
psd2
t
2
t
3
t
4
t
1
t
psa2
t
psd1
t
psa1
1)
2)
3)
4)
5)
6)
7)
8)
Formulas for calculating torque and energy in operation
Regenerative
power
Torque applied to servo motor [N•m]
(Note)
Energy E [J]
1)
T
1
=
(J
L
/
η
+ J
M
) • V
9.55 • 10
4
•
t
psa1
1
+ T
U
+ T
F
E
1
=
2
0.1047
• V • T
1
• t
psa1
2) T
2
= T
U
+ T
F
E
2
= 0.1047 • V • T
2
• t
1
3)
T
3
=
-(J
L
•
η
+ J
M
) • V
9.55 • 10
4
•
t
psd1
1
+ T
U
+ T
F
E
3
=
2
0.1047
• V • T
3
• t
psd1
4), 8)
T
4
, T
8
= T
U
E
4
, E
8
= 0 (No regeneration)
5)
T
5
=
(J
L
/
η
+ J
M
) • V
9.55 • 10
4
•
t
psa2
1
- T
U
+ T
F
E
5
=
2
0.1047
• V • T
5
• t
psa2
6) T
6
= -T
U
+ T
F
E
6
= 0.1047 • V • T
6
• t
3
7)
T
7
=
-(J
L
•
η
+ J
M
) • V
9.55 • 10
4
•
t
psd2
1
- T
U
+ T
F
E
7
=
2
0.1047
• V • T
7
• t
psd2
Note.
η
: Drive system efficiency
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
Содержание MR-J4-100A(-RJ)
Страница 19: ...10 MEMO ...
Страница 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Страница 83: ...2 INSTALLATION 2 8 MEMO ...
Страница 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Страница 203: ...4 STARTUP 4 44 MEMO ...
Страница 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Страница 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Страница 387: ...9 DIMENSIONS 9 22 MEMO ...
Страница 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Страница 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Страница 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Страница 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Страница 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Страница 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Страница 856: ...APPENDIX App 41 ...
Страница 905: ...MEMO ...