12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative br ake option(a) Simple selection methodIn horizontal motion applications, select the regenerative brake option as described below:When the servo motor is run without load in the regenerative mode from the running speed to astop, the permissible duty is as indicated in Section 5.1 of the separately available Servo MotorInstruction Manual.For the servo motor with a load, the permi ssible du ty change s accord ing to the inertia moment ofthe load and can be calculated by the fol lowing formula:
Permissible
duty Permissible duty for servo motor with no load (value indication Secti o n 5.1 in Servo Motor Instruction Manual)
(m 1)
ratedspeed
running speed [times/min]
2
where m load inertia moment/servo motor inertia moment
From the permissible duty, find whether the regenerative brake option is required or not.Permissible duty number of positioning times [times/min]Select the regenerative brake option out of the combinations in (1) in this section.(b) To make selection according to regenerative energyUse the following method when regeneration occurs continuously in vertical motion applications orwhen it is desired to make an in-depth selection of the regenerative brake option:a. Regenerative energy calculationUse 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
No 1
Tpsa1 TUTFE12
0.1047 No T1Tpsa1
2) T2 TU TFE2 0.1047 No T2t1
3) T3(JL JM)
9.55 104
No 1
Tpsd1 TUTFE32
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) T7(JL JM)
9.55 104
No 1
Tpsd2 TUTFE72
0.1047 No T7Tpsd2
From the calculation results in 1) to 8), find the absolute value ( Es) of the sum tot al of negativeenergies.