Omron R88D-1SN ECT Series, Руководство пользователя, Страница: 431 / 974

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4 Configuration and Wiring
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
4-4 Re
gen
er
a
tive En
er
g
y Ab
sorp
tion
4
4-
4-1 C
alculating
the Regene
rative Ener
gy
Regenerative energy calculation for a vertical axis is explained.
• In the output torque graph, acceleration in the rising direction is shown as positive (+), and accelera-
tion in the falling direction is shown as negative (-).
• The regenerative energy values in each region can be calculated from the following equations.
Note Due to the loss from winding resistance, the actual regenerative energy will be approximately 90% of the
values calculated from these equations.
Motor operation
Motor output torque
+N1
- N2
t 1 t 2 t 3
T
Eg1
Eg22
Upward movement
Downward movement
TD2
TL2
TD1
Eg21
N 1, N 2
: Rotation speed at start of deceleration [r/min]
: Deceleration torque [N·m]
: Torque during downward movement [N·m]
: Deceleration time [s]
: Constant-speed driving time during downward movement [s]
T D1, TD2
t 1, t3
T L2
t 2