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13. OPTIONS AN
D 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
Friction
torque
U
n
b
a
l
a
n
c
e
t
o
r
q
u
e
TF
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
No
tf(1 cycle)
Down
( )
( )
(Driving)
(Regenerative)
Tpsd2
t2 t3 t4t1
T
psa2Tpsd1
T
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
(J
L
J
M
)
9.55
10
4
N0
1
T
psa1
T
U
T
F
E
1
2
0.1047
N
0
T1 Tpsa1
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
N0
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)
T5
(J
L
J
M
)
9.55
10
4
N0
1
Tpsa2
TU TF
E
5
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)
T7
(J
L
J
M
)
9.55
10
4
N
0
1
T
psd2
T
U
T
F
E7
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.