14 - 2
14. OPTIONS AND AUXILIARY EQUIPMENT
(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
Firiction
torque
Unbalance torque
TF
TU
Servo motor speed
Generated torque
Time
Up
N0
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) T11
Tpsa1 TUTF
(JL JM)
9.55 104
N0
E12
0.1047 N0T1Tpsa1
2) T2 TU TF E
2 0.1047 N0T2t1
3) T39.55 104
(JL JM)N01
Tpsd1 TUTF
E32
0.1047 N0T3Tpsd1
4), 8) T4 TU E
40 (N0 regeneration)
5) T51
Tpsa2 TUTF
(JL JM)
9.55 104
N0
E52
0.1047 N0T5Tpsa2
6) T6 TU TF E
6 0.1047 N0T6t3
7) T79.55 104
(JL JM)N01
Tpsd2 TUTF
E72
0.1047 N0T7Tpsd2
From the calculation results in 1) to 8), find th e absolute value (Es) of the sum total of negative
energies.
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier Invers e efficiency[%] Capacitor charging[J]
MR-J2S-10CP 55 9
MR-J2S-10CP1 55 4
MR-J2S-20CP 70 9
MR-J2S-20CP1 70 4
MR-J2S-40CP 85 11
MR-J2S-40CP1 85 12
MR-J2S-60CP 85 11
MR-J2S-70CP 80 18
MR-J2S-100CP 80 18
MR-J2S-200CP 85 40
MR-J2S-350CP 85 40
MR-J2S-500CP 90 45
MR-J2S-700CP 90 70