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6 OPTIONS AND PERIPHERAL EQUIPMENT
6.2 Regenerative option
■Calculation of regenerative energy per cycle
As an example, calculate the regenerative energy in the following operation pattern with MR-J5W3-_G_ servo amplifier.
Calculate the energy at each timing in one cycle. Energy is a positive value in power running and a negative value in
regeneration. Create a table like the one shown below, and write down the energy during power running/regeneration with
signs.
Calculate the energy consumed by the regenerative resistor ER [J] with the following formula for the calculation results from
E1 to E11 with negative values.
When the absolute value of the value in E1 to E11 is assumed to be Es: ER [J] =
m
• E
s
- E
c
If ER values are negative at all timings, the regenerative option is not needed. If the values of ER include positive values, from
the total of ERs whose subtraction results are positive and one-cycle period, the power consumption PR [W] of the
regenerative resistor can be calculated with the following equation.
PR [W] = total of positive ERs/one-cycle operation period (tf)
The regenerative option is not required when the PR value is equal to or less than the specification value for the built-in
regenerative power of the servo amplifier.
Timing (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
A-axis E1A E2A E3A E4A E5A E6A E7A E8A E9A E10A E11A
B-axis E1B E2B E3B E4B E5B E6B E7B E8B E9B E10B E11B
C-axis E1C E2C E3C E4C E5C E6C E7C E8C E9C E10C E11C
Sum E1E2E3E4E5E6E7E8E9E10E11
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
Servo motor speed
tf (one cycle)
tf (one cycle)
A-axis
Time
B-axis
Time
C-axis
Time
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