12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
(a) Simple selection method
In horizontal motion applications, select the regenerative option as described below.
When the servo motor is run without load in the regenerative mode from the running speed to a
stop, the permissible duty is as indicated in section 5.1 of the separately available Servo Motor
Instruction Manual.
For the servo motor with a load, the perm issible duty changes according to the iner tia moment of
the load and can be calculated by the following fo rmula.
(m l)
ratedspeed
running speed [times/min]
2
Permissible duty for servo motor with no load (value indication section 5.1 in Servo Motor Instruction Manual)
Permissible
duty
where m load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative option is required or not.
Permissible duty number of positioning times [times/min]
Select the regenerative option out of the co mbinations in (1) in this section.
(b) To make selection according to regenerative energy
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.
M
Friction
torque
Unbalance torque
TF
TU
Servo motor speed
Generated torque
Time
Up
No
tf(1 cycle)
Down
( )
(
)
(Driving)
(Regenerative)
Tpsd2
t2 t3 t4t1
Tpsa2
Tpsd1Tpsa1
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] Energy [J]
1) T1(JL JM)
9.55 104
No 1
Tpsa1 TUTFE12
0.1047 No T1Tpsa1
2) T2 TU TFE2 0.1047 No T2t1
3) T39.55 104
1
Tpsa1 TUTF
(JL JM)No E32
0.1047 No T3Tpsd1
4), 8) T4 TUE40 (No regeneration)
5) T5(JL JM)
9.55 104
No 1
Tpsa2 TUTFE52
0.1047 No T5Tpsa2
6) T6 TU TFE6 0.1047 No T6t3
7) T79.55 104
1
Tpsa2 TUTF
(JL JM)No E72
0.1047 No T7Tpsd2
From the calculation results in 1) to 8), find th e absolute value (Es) of the sum total of neg ative
energies.