Справочник Пользователя для Mitsubishi Electronics MDS-R

 
 
 

 

 

A2 - 7

 

The regenerative energy differs in the upward stop and downward stop for an unbalance axis. A 
constant regeneration state results during downward movement if the unbalance torque is the 
same as or larger than the friction torque. 

 

 

A regenerative state only occurs when deceleration torque (downward torque) is generated. 

E

RU

 = 5.24

10

-5 

 

 

 

T

du 

 

N 

 

t

d

 – Ec   (J) 

   (

2-7) 

 



: Motor reverse efficiency 

 

 

T

du

: Upward stop deceleration torque 

(N



m) 

 

N

: Motor speed 

(r/min) 

 

t

d

: Deceleration time (time constant)   

(ms) 

 

Ec

: Unit charging energy 

(J) 

A regenerative state occurs even during constant rate feed when the upward torque Ts during dropping is 
generated. 
Calculate so that Ts = 0 when Ts is downward. 

2

 

 

 

 

T

s 



 L 

E

RD

 = 

∆S 

+ 5.24 

 10

-5  

 

 

T

dd 

 

N 

 

t

d

 – Ec   (J) 

   (

2-8) 

 



: Motor reverse efficiency 

 

 

T

s

: Upward torque during dropping 

(N



m) 

 

L 

: Constant speed travel 

(mm) 

 

∆S : Travel per motor rotation 

(mm) 

 

T

dd

: Downward stop deceleration torque  (N



m) 

 

N

: Motor speed 

(r/min) 

 

t

d

: Deceleration time (time constant) 

(ms) 

 

Ec

: Unit charging energy 

(J) 

The regenerative energy per cycle (E

R

) is obtained using expression (2-9) using one reciprocation as one cycle.

E

R

=E

RU+

E

RD

      (J) 

   (

2-9) 

 
 

 

 

 

 

Using a machine tool vertical axis driven by an HF153 motor, reciprocation is carried out with F30000 at an 
acceleration/deceleration time constant of 100ms for a distance of 200mm. Obtain the regenerative energy 

er reciprocation operation in this case. 

p

 

Where:  Servo drive unit 

: MDS-R-V1-80 

Travel per motor rotation 

: 10 mm 

Upward stop deceleration torque 

: 20 N



m 

Downward stop deceleration torque 

: 30 N



m 

Upward torque during downward movement  :  3 N



m 

 
Using expression (2-7), the upward stop regenerative energy E

RU

 is as follows: 

 

E

RU

 = 5.24

10

-5

0.85203000100 – 46 = 221.2 (J) 

 
The acceleration/deceleration distance required to accelerate at the 100ms acceleration/deceleration time 

onstant to 30000mm/min. is as follows: 

c

 

30000

100 

 

2

601000 

= 25 (mm) 

 
Therefore, the constant speed travel is 150mm. 
T

 

he downward stop regenerative energy E

RD

 is obtained using the following expression (2-8). 

2

0.853150 

E

RD

 = 

10 

+ 5.24

10

-5

0.85303000100 – 46 = 595.2 (J) 

 
Thus, the regenerative energy per reciprocation operation E

R

 is as follows: 

 

E

R

 = 221.2 + 595.2 = 816.4 (J)