CACR-SR15BY1SS-Y50 (Yaskawa VS-800, 1.5kW, BY housing, Y50 custom) 1. Model Description • CACR-SR: VS-800 series SERVOPACK (discontinued, position/torque control) • 15: 1.5kW (1500W) rated power • BY: BY housing (250 × 180 × 120 mm, incompatible with AD/AY/AZ/BE) • 1SS: Control firmware ◦ 1: Standard version ◦ S: Position control (pulse + direction) ◦ S: Torque control (±10V analog)   • -Y50: Custom version (Japanese-standard I/O, NPN, low-level active; updated parameter defaults vs Y49)

3. Control Modes (1SS Firmware) Position Control (Pulse Command) • Command: Pulse + Direction (single-ended/differential) • Max Input Frequency: 200kHz • Electronic Gear: 1/1 ～ 32767/1 (parameter setting)  Torque Control (Analog Command) • Command: ±10V → ±rated torque • Input Impedance: ~10kΩ • Torque loop PI gain adjustable via parameters  Mode Switching • External DI signal selects Position / Torque mode  4. Terminal Wiring Main Circuit (Left Side) • R, S, T: Three-phase AC200～230V input • U, V, W: Servo motor output • Y3, Y4: Regenerative braking resistor (10Ω/200W) • PE: Protective earth  Control Interface CN1 (50-pin, Y50 NPN) Digital Inputs (DI, NPN, Low Active) • 1: SV-ON (Servo Enable) • 2: P-OT (Positive Limit) • 3: N-OT (Negative Limit) • 4: RESET (Alarm Reset) • 5: MODE (Position/Torque Switch)  Digital Outputs (DO, NPN Open-Collector) • 20: RDY (Servo Ready) • 21: IN-POS (Positioning Complete) • 22: ALM (Alarm) • 23: ZSP (Zero Speed)  Analog & Pulse • 10: TRQ_REF (±10V Torque Command) • 11: GND • 15: PULS (Pulse) • 16: SIGN (Direction)  Encoder Interface CN2 (20-pin) • A, /A, B, /B, Z, /Z, 5V, GND  5. Panel Operation & Parameters Panel Keys • MODE: Display switch (speed/position/current/alarm) • UP/DOWN: Parameter select / value adjust • SET: Enter parameter / save  Default Parameters (Y50, updated vs Y49) • P00: Control mode (0=Position, 1=Torque) → 0 • P01: Motor type (1.5kW) → 5 • P02: Encoder resolution → 2500 • P03: Electronic gear numerator → 1 • P04: Electronic gear denominator → 1 • P05: Torque loop gain → 160 • P06: Torque loop integration time → 8ms • P07: Position loop gain → 65 • P08: Accel/decel time → 50ms  6. Alarm Codes • 1: Overcurrent (short circuit / motor fault) • 2: Overvoltage (high supply / regeneration error) • 3: Undervoltage (phase loss / low voltage) • 4: Overtemp (poor cooling / fan fault) • 5: Overload (excess load / mechanical jam) • 6: Encoder error (broken wire / wiring mistake) • 7: Limit switch triggered • A: Servo not ready • B: Parameter error • F: System fault (hardware damage)  7. Usage Notes 1. Housing Compatibility: Only interchangeable with BY housing models. 2. Custom Version: -Y50 (NPN) is not directly replaceable with -E (PNP) due to I/O logic. 3. Motor Matching: Must pair with Yaskawa 1.5kW incremental encoder motor (e.g., USAREM-15DE). 4. Wiring Separation: Separate power and signal cables; use twisted-shielded cable for encoder. 5. Load Rating: Continuous ≤100%, peak ≤300% (≤3s).