Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 522

[Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20
13.5.2 Regenerative option selection
Select by the following method when regeneration is continuously generated on the vertical axis or when a
regenerative option is selected in detail.
(1) Calculation of regenerative energy
Determine the absolute value (Es) of the total sum of negative energy from the calculation results 1) to
8).
M
Friction
torque
T
F
T
U
Formula to calculate torque and energy during operation
Regenerative
Torque T [N•m] imposed on servo motor
power
(J /η + J
L M
T =
1)
1
9.55 • 10
2) T = T + T
2 U F
• η + J
-(J
L
T =
3)
3
9.55 • 10
T = T
4), 8) ，T
4 8 U
(J /η + J
L M
T =
5)
5
9.55 • 10
6) T = -T + T
6 U F
• η + J
-(J
L
T =
7)
7
9.55 • 10
Appendix 1-59
(1 cycle)
tf
Raise
t
1
t
psa1
(Power
1)
(+)
running)
2)
(-)
3)
(Regeneration)
) • V 1
• + T + T
U F
4 t
psa1
1
) • V
M
• + T + T
U F
4 t
psa2
1
) • V
• - T + T
U F
t
4
psd2
) • V 1
M
• - T + T
U F
4 t
psd2
V
Drop Time
t t t
2 3 4
t t t
psd1 psa2 psd2
5)
4) 8)
6)
7)
Energy E [J]
0.1047
E = • V • T • t
1 1 psa1
2
E = 0.1047 • V • T • t
2 2 1
0.1047
E = • V • T • t
3 3 psa2
2
E ≧ 0 (no regeneration)
，E
4 8
0.1047
E = • V • T • t
5 5 psd2
2
E = 0.1047 • V • T • t
6 6 3
0.1047
E = • V • T • t
7 7 psd2
2