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11. OPTIONS AND PERIPHERAL EQUIPMENT
11 - 14
(2) Linear servo motor
(a) Thrust and energy calculation
Liner servo moto
r
secondary-side (magnet)
Load
V
M
1
M2
Liner servo motor
primary-side (coil)
Liner servo motor
F
t
2)
1)
V
3)
4)
Positive
direction
6)
5) 7)
Negative
direction
8)
Time
Feed speed
t
psa1 t1 tpsd1 t2 tpsa2 t3 t4tpsd2
The following shows equations of the linear servo motor thrust and energy at the driving pattern
above.
Section Thrust F of linear servo motor [N] Energy E [J]
1) F
1
= (M
1
+ M
2
) • V/t
psa1
+ F
t
E
1
= V/2 • F
1
• t
psa1
2) F
2
= F
1
E
2
= V • F
2
• t
1
3) F
3
= -(M
1
+ M
2
) • V/t
psd1
+ F
t
E
3
= V/2 • F
3
• t
psd1
4), 8) F
4,
F
8
= 0 E
4
, E
8
= 0 (No regeneration)
5) F
5
= (M
1
+ M
2
) • V/t
psa2
+ F
t
E
5
= V/2 • F
5
• t
psa2
6) F
6
= F
t
E
6
= V • F
6
• t
3
7) F
7
= -(M
1
+ M
2
) • V/t
psd2
+ F
t
E
7
= V/2 • F
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
For inverse efficiency and capacitor charging energy, refer to (1) (b) of this section.
(c) Regenerative energy calculation
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies
by the inverse efficiency to calculate the energy consumed by the regenerative resistor.
ER [J] = η • Es - Ec
From the total of ER's whose subtraction results are positive and one-cycle period, the power
consumption PR [W] of the regenerative option can be calculated with the following equation.
PR [W] = total of positive ER's/one-cycle operation period (tf)
Select a regenerative option from the PR value. Regenerative option is not required when the energy
consumption is equal to or less than the built-in regenerative energy.