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Sharp CP-SR421 User Manual Page 227

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11. Options and peripheral devices
11 - 10
(2) For linear servo motor
(a) Calculation of thrust and energy
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 Travel direction of linear servo motor 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
Refer to this section (1) (b) for inverse efficiency and Capacitor charging.
(c) generative 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] = Ș • Es - Ec
From the total of ER's whose subtraction results are positive and a 1-cycle period, the power
consumption of the regenerative option can be calculated with the following expression.
Power consumption PR [W] (total of positive ER's)/1-cycle operation period (tf)
Select the 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.
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