Period 1
Pe
riod 2
Period 3
Time
For vertical load
Torque
Speed
Average regenerative energy [W]
1 cycle time [s]
(P1+P2 … +Pi)[J]
=
Note 1. For Speed, the forward rotation direction is indicated as positive. For Torque, the torque in the for-
ward rotation direction is indicated as positive.
Note 2. Calculate a braking torque according to Inverter Capacity Selection in the Motor Capacity Selection
section.
Braking Resistor Selection
Select a braking resistor from the required braking resistance and the average regenerative energy
obtained in this calculation.
• Required braking resistance
≥ Resistance of braking resistor ≥ Min. connection resistance of in-
verter
• Average regenerative energy ≤ Resistance capacity of braking resistor
Note 1. Connecting a braking resistor whose resistance is less than the minimum connection resistance val-
ue of the inverter results in damage to the internal braking transistor. If the required braking resist-
ance is less than the minimum connection resistance, change the inverter to one having a larger ca-
pacity and ensure that the required braking resistance is not less than the minimum connection re-
sistance.
Note 2. Make allowance for the resistance capacity of the braking resistor. Otherwise, it may be overheated.
Select a braking resistor whose capacity is at least 20% larger than the calculated value.
Appendices
A-302
M1 Series EtherCAT Type User’s Manual (I670)
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