Instruction manual

11 - 22
11. OPTIONS AND AUXILIARY EQUIPMENT
Formulas for calculating torque and energy in operation
Regenerative power Torque applied to servo motor [N m] Energy [J]
1)
T
1
(J
L
J
M
)
9.55
10
4
N
0
1
T
psa1
T
U
T
F
E
1
2
0.1047
N
0
T
1
T
psa1
2)
T
2
T
U
T
F
E
2
0.1047 N
0
T
2
t
1
3)
T
3
(J
L
J
M
)
9.55
10
4
N
0
1
T
psd1
T
U
T
F
E
3
2
0.1047
N
0
T
3
T
psd1
4), 8)
T
4
T
U
E
4
0 (No regeneration)
5)
T
5
(J
L
J
M
)
9.55
10
4
N
0
1
T
psa2
T
U
T
F
E
5
2
0.1047
N
0
T
5
T
psa2
6)
T
6
T
U
T
F
E
6
0.1047 N
0
T
6
t
3
7)
T
7
(J
L
J
M
)
9.55
10
4
N
0
1
T
psd2
T
U
T
F
E
7
2
0.1047
N
0
T
7
T
psd2
From the calculation results in 1) to 8), find the 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 Inverse efficiency[%] Capacitor charging[J]
MR-J3-10B 55 9
MR-J3-10B1 55 4
MR-J3-20B 70 9
MR-J3-20B1 70 4
MR-J3-40B 85 11
MR-J3-40B1 85 10
MR-J3-60B 85 11
MR-J3-70B 80 18
MR-J3-100B 80 18
MR-J3-200B 85 40
MR-J3-350B 85 40
MR-J3-500B 90 45
MR-J3-700B 90 70
MR-J3-11KB(4) 90 120
MR-J3-15KB(4) 90 170
MR-J3-22KB(4) 90 250
Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the
efficiency varies with the speed and generated torque, allow for about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the
inverse efficiency to calculate the energy consumed by the regenerative brake option.
ER [J]
Es Ec
Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period
tf [s] to select the necessary regenerative brake option.
PR [W]
ER/tf .............................................................................................(11.1)