Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 109)

4.4 Trial Operation with the Servomotor Connected to the Machine
4-11
4
Tri
al Op
eration
4.4 Trial Operation with the Servomotor Connected to the Machine
Perform the following steps for trial operation when the servomotor is connected to the machine.
The steps are specified on the condition that trial operation for servomotor without load has been completed in
each control method.
WARNING
• Malfunctions that occur after the servomotor is connected to the machine may not only damage the
machine, but may also cause an accident resulting in death or injury.
Enable the overtravel signals (P-OT and N-OT) during trial operation with the servomotor
connected to the machine to provide a protective function.
Step Operation Reference
1
Turn ON the control power and main circuit power supplies and make the settings for
mechanical configuration related to protective function such as safety function, over-
travel, and brake.
When using the safety function, connect a safety function device to CN8.
Note:
• If you do not connect a safety function device, leave the safety function’s jumper
connector connected to the safety connector (CN8). If the SERVOPACK is used
without the safety function’s jumper connector connected to CN8, no current will
be supplied to the servomotor and no motor torque will be output. In this case, the
SERVOPACK will enter a hard wire base block state.
• When a servomotor with brake is used, take advance measures to prevent vibration
due to gravity acting on the machine or external forces before checking the brake
operation. Check that both servomotor and brake operations are correct.
5.11 Safety Function
3.2.2 Safety Function Sig-
nal (CN8) Names and
Functions
5.2.3 Overtravel
5.2.4 Holding Brakes
2
Set the necessary parameters for control method used. 5.3 Speed Control
5.4 Position Control
5.5 Torque Control
3
Connect the servomotor to the machine with coupling, etc., while the power is turned
OFF.
−
4
Turn ON the power to the machine (host controller) and then check that the SERVO-
PACK is servo OFF status. Check again that the protective function in step 1 operates
normally.
Note: For steps 4 to 8, take advance measures for emergency stop so that the servo-
motor can stop safely when an error occurs during operation.
5.2.5 Stopping Servomo-
tors after /S-ON Turned
OFF or Alarm Occur-
rence
Secure the motor flange to
the machine, and install it
on the load shaft.
To power
supply
To host controller
CN1
45