Mitsubishi MR-JE-70B - Selection of Regenerative Option

11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 9
11.2.2 Selection of 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.
(1) Regenerative energy calculation
M
Friction
torque
Unbalanced torque
TF
TU
Servo motor speedGenerated torque
Time
Up
V
tf (1 cycle)
Down
(+)
(-)
(Power running)
(Regeneration)
tpsd2
t2 t3 t4t1
tpsa2tpsd1
tpsa1
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]
(Note)
Energy E [J]
1)
T
1
=
9.55 • 10
4
(J
L
/η + J
M
) • V
•
t
psa1
1
+ T
U
+ T
F
E
1
=
2
0.1047
• V • T
1
• t
psa1
2) T
2
= T
U
+ T
F
E
2
= 0.1047 • V • T
2
• t
1
3)
T
3
=
9.55 • 10
4
-(J
L
• η + J
M
) • V
•
t
psd1
1
+ T
U
+ T
F
E
3
=
2
0.1047
• V • T
3
• t
psd1
4), 8) T
4
, T
8
= T
U
E
4
, E
8
≥ 0 (No regeneration)
5)
T
5
=
9.55 • 10
4
(J
L
/η + J
M
) • V
•
t
psa2
1
- T
U
+ T
F
E
5
=
2
0.1047
• V • T
5
• t
psa2
6) T
6
= -T
U
+ T
F
E
6
= 0.1047 • V • T
6
• t
3
7)
T
7
=
9.55 • 10
4
-(J
L
• η + J
M
) • V
•
t
psd2
1
- T
U
+ T
F
E
7
=
2
0.1047
• V • T
7
• t
psd2
Note. η: Drive system efficiency
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.