1. Model Definition

• CACR: Classic Yaskawa analog SERVOPACK series (old generation discontinued analog servo)

• IR: Robot dedicated single-axis servo, control via pulse + ±10VDC analog command, no fieldbus communication

• 30: Rated power 3.0kW (3000W)

• S: Standard hardware structure; B: Revised upgraded hardware version for Motoman robot OEM

• Application: Original joint axis drive for vintage Motoman industrial robots, original production permanently discontinued

2. Electrical Parameters

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

• Rated Output: 3.0kW, continuous rated output current 20A RMS, peak overload capacity up to 300% rated current for rapid acceleration/deceleration

• 3 Control Modes:

  1. Position mode: Pulse / Pulse-Direction input, max input frequency 500kpps

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

• Parameter setting: Adjust by onboard DIP switches & trim potentiometers (no PC software parameter download)

• Encoder: CN2 port for 5V A/B/Z incremental encoder feedback; matched with Yaskawa SGM-30A 3.0kW 200V servo motor

3. Interface Definition

• CN1: 24VDC opto-isolated digital I/O terminal block: Servo Enable, E-Stop interlock, Position Complete output, Fault dry-contact relay output for robot controller interlock signal

• CN2: Exclusive connector for motor incremental encoder cable

• Power terminals: L1/L2/L3 3-phase input; U/V/W motor output; dedicated terminals for external regenerative braking resistor

4. Dimension & Environmental Spec

• Size: H200 × W200 × D490mm; Net weight: 7.2kg, cabinet panel mounted, IP20 protection grade, built-in cooling fan

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

• Humidity: 5%~85%RH non-condensing, free of corrosive gas & conductive dust; no power derating below 1000m altitude

5. Built-in Protection Functions

6. Spare & Replacement Info

• No new original factory stock available globally; only used / refurbished tested spare parts for maintenance

• Modern replacement model: Yaskawa Sigma7 SGD7S-3R3A00A (3.0kW, 200V class); wiring modification and full parameter auto-tuning required for on-site replacement