R88A-CAU015S Omron, R88A-CAU015S Datasheet - Page 187

• Manufacturer Part Number: R88A-CAU015S
• Description: POWER CABLE 15M
• Manufacturer: Omron

Specifications of R88A-CAU015S

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

Operation
3-10 Regenerative Energy Absorption
3-10-1 Calculating Regenerative Energy
Regenerative energy is produced when the direction of Servomotor rotation or output torque is
reversed. The methods for calculating regenerative energy for the horizontal and vertical axes are
explained below.
Note In the output torque graph, acceleration in the positive direction is shown as positive, and accel-
Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi-
Horizontal Axis
Motor operation
Motor output
torque
eration in the negative direction is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
mately 90% of the figure derived by the formula.
Regenerative energy produced at times such as Servomotor deceleration is absorbed
by the Position Driver’s internal capacitors, thereby preventing an increase in DC volt-
age. If the regenerative energy from the Servomotor becomes too large, however, an
overvoltage error will occur. In such cases, it is necessary to connect a Regeneration
Resistor to increase the regeneration processing capacity.
E
E
g1
g2
= 1/2 N
= 1/2 N
N
T
t
1
D1
1
, t
, N
2
, T
: Deceleration time [s]
2
1
2
D2
: Rotation speed at beginning of deceleration [r/min]
: Deceleration torque [kgf cm]
T
T
D1
D2
t
t
1
2
1.027
1.027
10
10
–2
–2
[J]
[J]
Chapter 3
3-75