Sanyo SUPER BL P5 - Page 238

9. SPECIFICATIONS
9－56
② For vertical shaft driving (when a gravitational load is applied)
EM = EVUb + EVD + EVDb
= × N × 3 • KEφ × × tUb – ( )
2
× 3 • Rφ × tUb
+ N × 3 • KEφ × × tD – ( )
2
× 3 • Rφ × tD
+ × N × 3 • KEφ × × tDb – ( )
2
× 3 • Rφ × tDb
EM : Regenerative energy at vertical shaft driving [J]
EVUb : Regenerative energy at decelerated upward driving [J]
EVD : Regenerative energy at downward driving [J]
EVDb : Regenerative energy at decelerated downward driving [J]
TUb : Torque at decelerated upward driving [N･m]
tUb : Decelerated upward drive time [s]
TD : Torque at downward driving [N･m] (TD = TM – TF)
tD : Downward drive time [s]
TDb : Torque at decelerated downward move [N･m]
(TDb = TC – TF + TM)
tDb : Downward drive time [s]
TM : Gravitational load torque [N･m]
Fig. 9-22
1
2
TUb
KT
TUb
KT
TD
KT
TD
KT
1
2
TDb
KT
TDb
KT
If EVUb, EVD or EVDb becomes negative as a result of calculation, calculate EM after
changing the value 0.
TC + TF + TM
Motor output
shaft torque
T Db
TM
TM + TF
TM
TC + TF
−
TM
TD
TUb
t Db
tD
tUb
to
N
O
N
Upward drive
Downward drive