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4-4 Regenerative Energy Absorption
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4
System Design
The method for calculating regenerative energy on the vertical axis is indicated below.
In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and
acceleration in the reverse direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
Note. Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the
values derived from these equations.
Motor operation
Motor output torque
+N1
−N2
t 1 t 2 t 3
T
E
g1
Upward movement
Downward movement
TD2
TL2
TD1
Eg21
Eg22g22Eg22E
E
g21
E
g22
E
g2
E
g21
+
E
g22
N
1
,
N
2
: Rotation speed at start of deceleration [r/min]
: Deceleration torque [N·m]
: Torque during downward movement [N·m]
: Deceleration time [s]
:
Constant-speed driving time during downward movement
[s]
T
D1
,
T
D2
t
1
,
t
3
T
L2
t
2
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