4-3 Regenerative Energy Absorption
4-3-1 Calculating the Regenerative Energy
4-3 Regenerative Energy Absorption
The Servo Drivers have internal regenerative energy absorption circuitry, which absorbs the regenerative
energy produced during Servomotor deceleration and prevents the DC voltage from increasing. An
overvoltage error is generated, however, if the amount of regenerative energy from the Servomotor is too
large. If this occurs, measures must be taken to reduce the regenerative energy produced by changing
operating patterns, or to increase the regenerative energy absorption capacity by connecting external
regeneration resistance.
4-3-1
Calculating the Regenerative Energy
Horizontal Axis
Servomotor
operation
Servomotor
output torque
Note: In the output torque graph, acceleration in the positive direction is shown as positive, and
acceleration in the negative direction is shown as negative.
•
The regenerative energy values for each region can be derived from the following
equations.
1
1
1
1
60
2
2
1
t
T
N
E
D
g
∗
∗
∗
∗
=
π
[J]
[J]
1
1
1
0524
.
0
t
T
N
D
∗
∗
∗
=
2
2
2
2
60
2
2
1
t
T
N
E
D
g
∗
∗
∗
∗
=
π
[J]
[J]
2
2
2
0524
.
0
t
T
N
D
∗
∗
∗
=
N
1
,
n [r/min]
T
D1
ue [N
⋅
m]
t
1
, t
time [s]
N
2
:
Rotation speed at beginning of deceleratio
, T
D2
:
Deceleration torq
2
:
Deceleration
Note: There is some loss due to winding resistance, so the actual regenerative energy will be
approximately 90% of the values derived from these equations.
•
The average regeneration power (Pr) is the power consumed by regeneration
resistance in one cycle of operation.
(
)
T
E
E
g
g
/
Pr
2
1
+
=
[W]
T: Operation cycle [s]
4-21
Summary of Contents for SMARTSTEP Junior R7D-ZP
Page 3: ...2 ...
Page 18: ...Section 1 Configuration Features and System ...
Page 25: ...1 5 Applicable Standards 1 5 2 UL and cUL Standards 1 8 ...
Page 26: ...Section 2 Dimensions Standard Models and ...
Page 36: ...Section 3 Specifications ...
Page 62: ...Section 4 System Design ...
Page 86: ...Section 5 Operation ...
Page 96: ...Section 6 Troubleshooting ...
Page 109: ...6 5 Periodic Maintenance 6 5 3 Replacing the Cooling Fan 6 14 ...
Page 110: ...Appendix ...
