Instruction manual
Accessories Optional accessories
7 - 4
● Regenerative energy calculation
Use the following method (refer tab. 7-3) when regeneration occurs continuously in vertical
motion applications or when it is desired to make an in-depth selection of the regenerative brake
option.
S000634C
Fig. 7-1: Regenerative energy
Regenerative
energy
Torque applied to servo motor [Nm] Energy [J]
,
Absolute value of the sum total of negative energies
Tab. 7-3: Equations for calculating torque and energy in operation
M
T
F
T
U
t1
t2 t3 t4
No
(+)
()
−
tf (1 cycle)
up
generative
regenerative
Time
Time
Generated
torque
Servo motor speed
Unbalance torque
Friction torque
T
1
J
L
J
M
+()N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psa1
---------------T
U
T
F
++×=
E
1
0.1047
2
------------------
N
0
T
1
T
Psa1
×××=
T
2
T
U
T
F
+=
E
2
0.1047 N
0
T
2
t
1
×××=
T
3
J
L
J
M
+()N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psd1
---------------T
U
T
F
++×=
E
3
0.1047
2
------------------
N
0
T
3
T
Psd1
×××=
T
4
T
U
=
E
4
0≥
T
5
J
L
J
M
+()N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psa2
---------------T
U
– T
F
+×=
E
5
0.1047
2
------------------
N
0
T
5
T
Psa2
×××=
T
6
T
U
T
F
+=
E
6
0.1047 N
0
T
6
t
3
×××=
T
7
J
L
J
M
+()N
0
×
9.55 10
4
×
-------------------------------------
1
T
Psd2
---------------T
U
– T
F
+×=
E
7
0.1047
2
------------------
N
0
T
7
T
Psd2
×××=