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14. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
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
U
n
b
a
l
a
n
c
e
t
o
r
q
u
e
T
F
T
U
Friction
torque
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
No
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)
T
1
(JL JM)
9.55
10
4
N
0
1
Tpsa1
TU TF
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)
T
3
(J
L
J
M
)
9.55
10
4
N
0
1
T
psd1
T
U
T
F
E3
2
0.1047
N
0 T3 Tpsd1
4), 8)
T
4
T
U
E
4
0 (No regeneration)
5)
T
5
(JL JM)
9.55
10
4
N
0
1
T
psa2
T
U
T
F
E5
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.