E1 Series Servo Drive User Manual E1 Series Servo Drive
2-6 HIWIN MIKROSYSTEM CORP.
2.3 Selecting regenerative resistor
The energy used to drive motor returns to servo drive as the motor decelerates. If the returned energy
exceeds the capacity of the servo drive capacitors, regenerative resistor should be installed to protect the
servo drive by absorbing the extra energy. Regenerative resistor is frequently required for motion with
heavy load or on Z axis. Whether to install regenerative resistor mainly depends on load and operating
conditions. Users can follow the procedure provided below to see if regenerative resistor should be
installed in their applications.
Step 1: Calculate the regenerative energy generated as motor decelerates.
E_dec (The regenerative energy during deceleration) = (1/2)*(m*V^2)
Step 2: Calculate the energy used by the motor.
Kf
is the force constant of the motor. T_decel is the deceleration time.
F = ma
P_motor (Watt) = (3/4)*R*(F/Kf*√2)^2
E_motor (Joule) = P_motor*T_decel
Step 3: Calculate the generated regenerative energy.
E_returned (The generated regenerative energy) = E_dec-E_motor
Step 4: Calculate the energy absorbed by the servo drive.
C is capacitance. V_regen is regenerative voltage. V_mains is voltage.
W_capacity (The energy absorbed by the servo drive) = 1/2*C*[V_regen^2-(1.414V_mains)^2]
Step 5: Check if regenerative resistor should be installed.
If E_returned > W_capacity, regenerative resistor should be installed.
If regenerative resistor is overheating or regenerative energy is too large, change the regenerative
resistor or how the regenerative resistor is connected.
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