CACR-IR05SE
Manufacturer:Yaskawa Electric Japan
Product type:Discontinued single-axis analog servo driver exclusively for early Motoman robot matching, belonging to classic CACR-IR robot dedicated series.
Model definition:CACR=Yaskawa traditional SERVOPACK platform;IR=robot specified single/modular servo series;05=rated power 0.5kW;S=standard hardware specification;E=OEM customized factory configuration code.
Matching motor:Yaskawa SGM series 0.5kW,200V class incremental encoder AC servo motor for single robot joint axis.
Production status:Original production stopped permanently,only used or refurbished spare parts available for equipment maintenance replacement.
Description
1.Basic Information
Manufacturer:Yaskawa Electric JapanProduct type:Discontinued single-axis analog servo driver exclusively for early Motoman robot matching, belonging to classic CACR-IR robot dedicated series.Model definition:CACR=Yaskawa traditional SERVOPACK platform;IR=robot specified single/modular servo series;05=rated power 0.5kW;S=standard hardware specification;E=OEM customized factory configuration code.Matching motor:Yaskawa SGM series 0.5kW,200V class incremental encoder AC servo motor for single robot joint axis.Production status:Original production stopped permanently,only used or refurbished spare parts available for equipment maintenance replacement.
2.Electrical Specifications
Main circuit input:3-phase AC200~230V,50/60Hz,allowable voltage fluctuation ±10%.Rated single axis power 0.5kW,continuous rated output current 4.2A,300% short-time overload performance for instant acceleration and deceleration.Three optional control modes:Position control accepts pulse/pulse-direction command with max input frequency 500kpps;speed and torque control adopt ±10VDC analog voltage command separately.
3.Interface Configuration
CN1 terminal block adopts 24VDC opto-isolated digital I/O,including servo enable,emergency stop interlock,position complete signal and common fault relay output.Independent CN2 connector for 5V A/B/Z phase incremental encoder feedback of matched servo motor.Command terminal receives external pulse signal and analog control instruction according to robot OEM pin definition.Built-in dedicated debugging port supports parameter setting and fault data reading via Yaskawa special handheld programmer.
4.Mechanical & Environmental Data
Panel mounting structure with IP20 protection grade and built-in cooling fan for forced air cooling.Working ambient temperature:0℃~+40℃;storage temperature:-20℃~+60℃;humidity 5%~85%RH without condensation,free of corrosive gas and conductive dust. No power derating required under installation altitude below 1000m.
5.Protection Functions
Complete protection items include overcurrent,overvoltage,undervoltage,motor overload,heatsink overheat,encoder breakage and output short-circuit protection. Dry contact fault alarm output connects to robot main controller for interlock stop control upon malfunction.
6.Replacement Recommendation
Alternative modern model:Yaskawa Sigma7 SGD7S-0R9A00A(0.5kW,3-phase 200V). Wiring modification and full parameter commissioning are required during field retrofit work.
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