In case the regeneration power during braking of a motor cannot be fed to the mains supply (which makes sense only for higher power levels) or to the battery, the bus voltage raises.
To avoid possible damage to the electronic circuits it must be taken care of that the energy can be eliminated. Most of the modern servo controllers have integrated braking circuits and some of them even internal regeneration resistors.
In case the servo amplifier does not have an internal regeneration resistor or the power is higher than the internal resistor's capacity then external regeneration resistors are required.
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