14 - 20 14. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option Use the following method when regeneration occurs continuo usly in vertical motion applications or when it is desired to make an in-depth selection of th e regenerative option. (a) Regenerative energy calculation Use the following table to calculate the regenerative energy. M
Unbalance torque
TF
TU
Friction
torque
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
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), f ind the absolute value (Es) of the sum total of negative energies.