Mitsubishi Electronics MR-J3- B, MR-J3-B , 11 - 22 ,

11 - 22
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
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
Tpsd1 Tpsa1
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
N01
Tpsa1 TUTF
E12
0.1047 N0T1Tpsa1
2) T2 TU TF E
2 0.1047 N0T2t1
3) T3(JL JM)
9.55 104
N01
Tpsd1 TUTF
E32
0.1047 N0T3Tpsd1
4), 8) T4 TU E 40 (No regeneration)
5) T5(JL JM)
9.55 104
N01
Tpsa2 TUTF
E52
0.1047 N0T5Tpsa2
6) T6 TU TF E
6 0.1047 N0T6t3
7) T7(JL JM)
9.55 104
N01
Tpsd2 TUTF
E72
0.1047 N0T7Tpsd2
From the calculation results in 1) to 8), fin d the absolute value (Es) of the sum total of negative energies.