13 - 2
13. 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
Friction
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
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
(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)
(J
L
J
M
)
T
5
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)
(J
L
J
M
)
T
7
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-E-10A-QW003 55 9
MR-E-20A-QW003 70 9
MR-E-40A-QW003 85 11
MR-E-70A-QW003 80 18
MR-E-100A-QW003 80 18
MR-E-200A-QW003 85 40
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 torque, allow for about 10
.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
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