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13 -  2
13. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative brake option:
a. Regenerative energy calculation
Use the following table to calculate the regenerative energy.
M
Friction  
torque
Unbal
ance t
o
rque
T
F
T
U
S
e
rv
o m
o
to
r s
peed
Gen
e
rat
ed t
o
rque
Time
Up
No
tf(1 cycle)
Down
(  )
(  )
(Driving)
(Regenerative)
T
psd2
t2
t3
t4
t1
T
psa2
T
psd1
T
psa1
1)
2)
3)
4)
5)
6)
7)
8)
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [N m]
Energy [J]
1)
T
1
(J
L
   J
M
)
9.55 10
4
N
0
1
T
psa1
T
U
T
F
E
1
2
0.1047
N
0
T
1
T
psa1
2)
T
2 
 T
U 
 T
F
E
2 
 0.1047 N
0
T
2
t
1
3)
T
3
(J
L
   J
M
)
9.55 10
4
N
0
1
T
psd1
T
U
T
F
E
3
2
0.1047
N
0
T
3
T
psd1
4), 8)
T
4 
 T
U
E
4
0 (No regeneration)
5)
T
5
(J
L
   J
M
)
9.55 10
4
N
0
1
T
psa2
T
U
T
F
E
5
2
0.1047
N
0
T
5
T
psa2
6)
T
6 
 T
U 
 T
F
E
6 
 0.1047 N
0
T
6
t
3
7)
T
7
(J
L
   J
M
)
9.55 10
4
N
0
1
T
psd2
T
U
T
F
E
7
2
0.1047
N
0
T
7
T
psd2
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
b. Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in
the regenerative mode.
Servo amplifier
Inverse efficiency[%]
Capacitor charging[J]
MR-J2S-10A
55
9
MR-J2S-10A1
55
4
MR-J2S-20A
70
9
MR-J2S-20A1
70
4
MR-J2S-40A
85
11
MR-J2S-40A1
85
12
MR-J2S-60A
85
11
MR-J2S-70A
80
18
MR-J2S-100A
80
18
MR-J2S-200A
85
40
MR-J2S-350A
85
40
MR-J2S-500A
90
45
MR-J2S-700A
90
70
MR-J2S-11KA
90
120
MR-J2S-15KA
90
170
MR-J2S-22KA
90
250
Inverse efficiency ( )
:Efficiency including some efficiencies of the servo motor and servo
amplifier when rated (regenerative) torque is generated at rated speed.
Since the efficiency varies with the speed and generated torque, allow for
about 10%.
Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.