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14. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
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
Firiction
torque
U
n
b
a
l
a
n
c
e
t
o
r
q
u
e
T
F
T
U
S
e
r
v
o
m
o
t
o
r
s
p
e
e
d
G
e
n
e
r
a
t
e
d
t
o
r
q
u
e
Time
Up
N0
tf(1 cycle)
Down
( )
( )
(Driving)
(Regenerative)
T
psd2
t2 t3 t4t1
T
psa2
T
psd1T
psa1
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
1
T
psa1
TU TF
(J
L
J
M
)
9.55
10
4
N
0
E1
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)
T3
9.55
10
4
(J
L
J
M
)
N0
1
Tpsd1
TU TF
E3
2
0.1047
N
0 T3 Tpsd1
4), 8)
T
4
T
U
E
4
0 (N0 regeneration)
5)
T
5
1
T
psa2
T
U
T
F
(JL JM)
9.55
10
4
N
0
E5
2
0.1047
N
0 T5 Tpsa2
6)
T
6
T
U
T
F
E
6
0.1047 N
0
T
6
t
3
7) T
7
9.55
10
4
(J
L
J
M
)
N
0
1
Tpsd2
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-J2S-10CP 55 9
MR-J2S-10CP1 55 4
MR-J2S-20CP 70 9
MR-J2S-20CP1 70 4
MR-J2S-40CP 85 11
MR-J2S-40CP1 85 12
MR-J2S-60CP 85 11
MR-J2S-70CP 80 18
MR-J2S-100CP 80 18
MR-J2S-200CP 85 40
MR-J2S-350CP 85 40
MR-J2S-500CP 90 45
MR-J2S-700CP 90 70