Trial Operation With The Servomotor Connected To The Machine; Precautions; Preparations - YASKAWA SGD7S-1R9D Product Manual

7.5

Trial Operation with the Servomotor Connected to the Machine

This section provides the procedure for trial operation with both the machine and Servomotor.
7.5.1

Precautions

 Operating mistakes that occur after the Servomotor is connected to the machine may not
only damage the machine, but they may also cause accidents resulting in personal injury.
If you disabled the overtravel function for trial operation of the Servomotor without a load, enable
the overtravel function (P-OT and N-OT signal) before you perform trial operation with the Servo-
motor connected to the machine in order to provide protection.
Important
If you will use a brake, observe the following precautions during trial operation.
• Before you check the operation of the brake, implement measures to prevent vibration from
being caused by the machine falling due to gravity or an external force.
• First check the Servomotor operation and brake operation with the Servomotor uncoupled
from the machine. If no problems are found, connect the Servomotor to the machine and per-
form trial operation again.
Control the operation of the brake with the /BK (Brake) signal output from the SERVOPACK.
Refer to the following sections for information on wiring and the related parameter settings.
4.4.4 Wiring the SERVOPACK to the Holding Brake on page 4-25
5.11 Holding Brake on page 5-32
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the SERVOPACK, damage the equipment, or cause an accident
resulting in death or injury.
Observe the precautions and instructions for wiring and trial operation precisely as described in
Important
this manual.
7.5.2

Preparations

Confirm the following items before you perform the trial operation procedure for both the
machine and Servomotor.
• Make sure that the procedure described in 7.4 Trial Operation with EtherCAT (CoE) Commu-
nications on page 7-10 has been completed.
• Make sure that the SERVOPACK is connected correctly to both the host controller and the
peripheral devices.
• Safety Function Wiring
• If you are not using the safety function, leave the Safety Jumper Connector (provided as
an accessory with the SERVOPACK) connected to CN8.
• If you are using the safety function, remove the Safety Jumper Connector from CN8
and connect the safety function device.
• Overtravel wiring
• Brake wiring
• Allocation of the /BK (Brake) signal to a pin on the I/O signal connector (CN1)
• Emergency stop circuit wiring
• Host controller wiring

7.5 Trial Operation with the Servomotor Connected to the Machine

WARNING

7.5.1 Precautions

7
7-11