CACR-IR050505F
Manufacturer: Yaskawa Electric Corporation, Japan
Series: Obsolete integrated three-axis analog servo drive specially designed for early Motoman industrial robots.
Model code explanation: CACR stands for traditional Yaskawa SERVOPACK series; IR indicates robot-use integrated multi-axis structure; three sets of 05 mean each of the three axes is rated 0.5kW; F is OEM custom code with factory preconfigured parameters exclusive for robot application.
Matching motor: Three pieces of Yaskawa SGM series 0.5kW, 200V grade incremental encoder servo motors for three separate robot axes.
Production status: Original production discontinued, only used or refurbished spare parts available for robot maintenance replacement.
Description
1. Basic Information
Manufacturer: Yaskawa Electric Corporation, JapanSeries: Obsolete integrated three-axis analog servo drive specially designed for early Motoman industrial robots.Model code explanation: CACR stands for traditional Yaskawa SERVOPACK series; IR indicates robot-use integrated multi-axis structure; three sets of 05 mean each of the three axes is rated 0.5kW; F is OEM custom code with factory preconfigured parameters exclusive for robot application.Matching motor: Three pieces of Yaskawa SGM series 0.5kW, 200V grade incremental encoder servo motors for three separate robot axes.Production status: Original production discontinued, only used or refurbished spare parts available for robot maintenance replacement.
2. Electrical Specifications
Main circuit input is three-phase AC200~230V, 50/60Hz with ±10% allowable voltage variation. Every single axis is rated 0.5kW with continuous output current 4.2A and 300% instantaneous overload capacity. The driver contains independent power circuit for each axis with separated main power and control power supply.Each axis supports three control modes: position control receives pulse or pulse-direction signal with maximum input frequency 500kpps; speed and torque control adopt ±10VDC analog command input.
3. Interface Configuration
Common CN1 terminal block is equipped with 24VDC opto-isolated digital input and output signals covering servo enable, emergency stop interlock and general fault output for the whole unit. Three independent CN2 encoder connectors are reserved for A/B/Z phase 5V incremental encoder feedback of three axes respectively. Command connectors receive external pulse and analog control signals for each axis separately. Built-in communication port supports parameter reading and fault diagnosis via dedicated programming device.
4. Mechanical & Environmental Data
Cabinet panel mounting with IP20 protection grade and built-in cooling fan for forced air cooling. Operating ambient temperature ranges from 0℃ to +40℃, storage temperature from -20℃ to +60℃, ambient humidity 5%~85%RH non-condensing without corrosive gas and conductive dust. No power derating is required under installation altitude of 1000 meters.
5. Protection Functions
Complete protection functions include overcurrent, overvoltage, undervoltage, motor overload, heatsink overheat, encoder disconnection and output short-circuit for every single axis. A shared dry contact alarm output is available to send fault signal to robot main controller.
6. Replacement Recommendation
Modern replacement solution adopts Yaskawa Sigma7 multi-axis servo system with three single-axis SGD7S-0R9A drives for each 0.5kW axis. Wiring rearrangement and full parameter tuning are essential during on-site retrofit.
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