Infranor XtrapulsGem Installation Guide

69
XtrapulsPac Installation Guide
Chapter 5 - Appendix
1. Estimation of the regenerative power
The regenerative power must be calculated for each deceleration phase of each motor.
JOULEMOTORELEC
MOTORMOTORJOULE
COUPLINGLOADMOTOR
LOAD
DEC
TOTAL
LOAD
PPP
IRP
PP
nnT
t
nnJ
P







2
21
2
2
2
1
.
2
3
.
19
).(
.180
).(

with: P
LOAD
: Power regenerated by the load during the deceleration phase in W
J
TOTAL
: Motor + load inertia of the axis reflected to the motor shaft in kg.m²
n
1
: Rotation speed at the beginning of the deceleration phase in RPM
n
2
: Rotation speed at the end of the deceleration phase in RPM
t
DEC
: Deceleration time in s
T
LOAD
: Torque applied by the load on the motor shaft at the beginning of the deceleration phase in Nm
P
MOTOR
: Power regenerated on the motor shaft in W

COUPLING
: Efficiency of the mechanical coupling (gearbox). If no gearbox is used, 
COUPLING
 1
P
JOULE
: Losses in the motor windings in W
R
MOTOR
: Winding resistance measured between two phases of the motor in 
I
MOTOR
: Average current in one phase of the motor during the deceleration phase in A
P
ELEC
: Average power managed by the drive during the deceleration phase in W.
2. Choice of the ohmic value
ELEC
BRAKING
BRAKINGMIN
P
U
RR
ˆ
.2
2

with: R
MIN
: Minimum braking resistor value in Ohm according to section "Main technical data".
U
BRAKING
: Triggering threshold of the braking system in V.
R
BRAKING
: Braking resistor in .
ELEC
P
ˆ
: Maximum of all P
ELEC
calculated for all motors and for all deceleration phases in W.
3. Average power
The required average power must be calculated to correctly choose the size of the braking resistor and to take
into account the heat dissipation effect in the near environment.
CYCLE
DEC
PN
ELEC
AVERAGE
T
pnTpnP
P
),(),(
,
1,1



With: P
ELEC
: Power managed by the drive axis n during the deceleration phase p in W
4. Braking I²t setup
BRAKING
BRAKINGON
tI
R
Ut
P
2
²
.
1000

with: P
I²t
: Maximum average power allowed by the braking I²t function in W
t
ON
: Conduction time allowed by the braking I²t function in ms
U
BRAKING
: Triggering threshold of the braking system in V
R
BRAKING
: Braking resistor in 

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English