-E RE = J S * ((N 1 ) 2 - (N 2 ) 2) / 182 =(0.00612+0.001118)*(2000) 2 /182 =159.08 (Joules) 20( Ω ) ≦ (The Resistor with min. 1410.8 w ) ≦ 97.03( Ω ) The table is from 6.6.3 Regenerative Resistor of A2 manual. -The built-in resistor is 60 watts which cannot meet this requirement; therefore, an external resistor is necessary. A Servo Selection Example(5) - W R = (E RE -E c ) / t decel =(159.08-18)/0.1=1410.8 (watts) - R max =(370) 2 / W R =(370) 2 / 1410.8 = 97.03 ( Ω ) z The Regenerative Energy