CACR stands for Yasnac VS800 full digital AC servo amplifier specially customized for robot axis closed-loop control.SR supports three parameter-selectable control modes: ±10VDC analog speed control, torque control and parameter-enabled position control.10 indicates rated matching motor power 1.0kW with continuous rated output current 7.6Arms under AC200V input grade.SZ denotes exclusive robot-dedicated PCB and housing with unique internal circuit design, different from conventional SB/BB/BY standard servo series.1 defines power supply specification: three-phase AC200~230V main power plus independent single-phase AC200~230V separated control power supply.S means only ±10VDC analog speed/torque command input; no onboard differential pulse receiving hardware for pulse positioning signal.F is factory-locked base firmware with core gain and encoder basic parameters write-protected.-Y221 is exclusive OEM customized suffix for designated robot equipment; factory pre-calibrates loop gain values, fixes CN1 I/O logic and encoder matching parameters according to original robot specification; all Y221 customized parameters are permanently locked and full factory parameter reset is prohibited.

Main input power: three-phase AC200V~230V, allowable voltage fluctuation -15%~+10%, compatible with 50Hz/60Hz industrial power grid. Control power requires separate single-phase AC200~230V independent wiring to isolate surge interference from main circuit.Continuous rated output current:7.6Arms; 150% overload runs continuously for 60 seconds, 300% instantaneous peak overload limited within 3 seconds for motor startup acceleration. Normal DC bus operating voltage DC280V~DC320V; terminals P and BN reserved for external regenerative braking resistor connection for frequent rapid deceleration and heavy-load robot motion.IGBT sine-wave PWM modulation is adopted with maximum output frequency up to 300Hz; encoder configuration data is locked by Y221 customized program.

Operating ambient temperature:0℃~+55℃; storage temperature: -20℃~+70℃. Working relative humidity 5%~80%RH without dew condensation; protection grade IP20, vertical upright installation inside electrical cabinet is required.Max allowable installation altitude below 1000 meters above sea level; load derating required when installed over 1000m elevation. Anti-vibration specification:10Hz~55Hz with 0.5mm single amplitude during stable operation; net weight approx 3.0kg.

Speed adjustment ratio reaches 1:5000, full-load steady speed deviation controlled within ±0.01%. Built-in digital notch filter suppresses mechanical resonance and low-speed crawling during frequent start-stop and reciprocating robot movement.S-type hardware only accepts ±10VDC analog command without pulse input channel; position control function can be enabled via parameters while core position-related parameters are locked by Y221 customized firmware.Auto-tuning function is partially restricted: complete full automatic motor parameter identification is disabled, only minor fine-tuning of partial auxiliary gain is permitted for slight on-site mechanical matching; all CN1 I/O definition follows fixed Y221 OEM robot logic and cannot be arbitrarily redefined via parameters.Onboard RS422 serial communication supports real-time runtime data reading and historical fault record inquiry; locked Y221 customized parameters cannot be modified through communication cable.

R/S/T: three-phase main AC power input terminals; U/V/W: three-phase output terminals connecting servo motor stator cable; P/BN: external regenerative brake resistor wiring terminals for regenerative energy dissipation during repeated fast deceleration and emergency stop of robot axes.CN1: opto-isolated digital I/O terminal block with fixed Y221 robot OEM signal definition, users are prohibited to alter I/O function allocation freely.CN2: dedicated connector exclusively for incremental encoder feedback cable.

Complete built-in protection includes overcurrent protection, DC bus overvoltage/undervoltage protection, drive overheat protection, encoder disconnection protection and motor overload protection. The servo automatically stores latest 10 groups of historical fault codes for maintenance inspection; Y221 OEM preset parameters will not be erased after power-off or fault reset operation.Built-in standard dynamic braking circuit handles regular deceleration energy consumption; external regenerative resistor must be installed between P and BN terminals under long-time heavy-load and frequent emergency stop working conditions.

CACR-SR10SZ1SF-Y221 is dedicated robot OEM customized servo drive with exclusive SZ hardware and Y221 locked parameters. Standard CACR-SR10SZ1SF without Y221 suffix or SB series general servo cannot be directly substituted due to mismatched fixed I/O and gain parameters; only identical full part number CACR-SR10SZ1SF-Y221 supports plug-and-play replacement.

Check wiring tightness of power cables, motor cable and CN1/CN2 connectors before every startup to eliminate poor-contact-induced faults. Clean radiator fin dust every 3~6 months to guarantee heat dissipation efficiency and avoid overheat alarm.Cut off all AC power supply and wait over 15 minutes for internal DC bus capacitor full discharge before opening drive casing for maintenance to prevent electric shock hazard. Random full factory parameter reset is strictly forbidden to avoid loss of Y221 OEM customized data and robot abnormal operation.

Overheat alarm mainly caused by radiator dust clogging, poor cabinet ventilation or long-term overloaded robot running; encoder fault alarm mostly triggered by loose CN2 plug or damaged feedback cable.Overvoltage alarm occurs during frequent heavy-load rapid deceleration; resolve by installing external regenerative resistor between P and BN terminals. Parameter write failure when modifying Y221 locked core parameters belongs to normal OEM protection design instead of drive hardware damage. Overload alarm triggers when actual mechanical load exceeds motor rated output; inspect robot mechanical jamming or reduce motion load accordingly.