1. Model Definition

• CACR: Classic Yaskawa SERVOPACK analog servo series

• IR: Robot-dedicated single-axis servo (pulse + ±10V analog command, no fieldbus)

• 10: Rated power 1.0kW (1000W)

• S: Standard hardware specification; B: Revised factory hardware version

• Application: Original drive for older Motoman industrial robot joint axes, production fully discontinued by Yaskawa

2. Electrical Specifications

• Main Input: 3-phase AC200~230V, 50/60Hz, ±10% allowable voltage fluctuation

• Rated Output Power: 1.0kW; Continuous rated output current: 6.2A, Max peak overload 300% rated current

• Control Modes:

  1. Position: Pulse / pulse-direction input, max 500kpps

  2. Speed / Torque: ±10VDC analog voltage command input

• Parameter setup via DIP switches & onboard trim potentiometers (no PC software programming)

• Encoder: 5V A/B/Z incremental encoder feedback (CN2 port), match Yaskawa SGM-10A series servo motor

3. Terminal & Interface Layout

• CN1: 24VDC opto-isolated digital I/O; servo enable, E-stop interlock, positioning complete, fault dry-contact relay output for robot controller interlock

• CN2: Exclusive 5V incremental motor encoder connector

• Main power terminal block: U/V/W motor output, L1/L2/L3 three-phase mains input, regenerative resistor terminals

4. Ambient & Mechanical Data

• Mounting: Cabinet panel mount, IP20 protection, built-in cooling fan

• Operating Temp: 0℃ ~ +40℃; Storage Temp: -20℃ ~ +60℃

• Humidity: 5%~80%RH non-condensing, no corrosive gas/conductive dust; ≤1000m altitude no power derating

5. Built-in Protection Functions

6. Supply & Replacement Info

• Original OEM new production stopped; only used / refurbished units available for maintenance replacement

• Recommended modern substitute: Yaskawa Sigma7 SGD7S-1R6A00A (1.0kW, 200V class); wiring modification and full parameter tuning required on-site