Yaskawa CACR-SRxxBF User Manual

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YASKAWA ELECTRIC ENGINEERING

Re-engineered AC SERVOPACK

USER'S MANUAL

CACR-SR□□BF SERVOPACK

YA S K A WA

YASKAWA ELECTRIC ENGINEERING CORPORATION

MANUAL NO. KG22E

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa Electric Engineering. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa Electric Engineering is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa Electric Engineering assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this manual

 Description of Technical Terms

The terms in this manual are defined as follows:

• Re-engineered AC SERVOPACK:

The SERVOPACKs that have been developed to be used for replacement of the conventional

SERVOPACK models prior to Σ series.

• CACR-SRBF1: The re-engineered AC SERVOPACK model designation. The code in  differs depending on the

SERVOPACK capacity and specifications. Refer to 2.2 SERVOPACK Model Designations.

 Quick access to your required information

Read the chapters marked with 9 to get the information required for your purpose.

SERVOPACKs,

Chapter

Chapter 1 Outline

Chapter 2 Specifications and

Dimensional Drawings

Chapter 3 Wiring

Chapter 4 Settings and Display

Chapter 5 Maintenance,

Inspection, and Alarm/Warning Display

Servomotors,

and Peripheral

Devices

999

9999

 Related Manuals

Refer to the following manuals as required.

Ratings and

Characteristics

Panel

Configuration

and Wiring

Trial Operation

Maintenance

and Inspection

Manual Name Manual Number Contents

Σ-III Series SGMS/SGDS Digital Operator Operation Manual

Σ-III Series SGMS/SGDS User’s Manual

TOBPS80000001

SIEPS80000000

Provides detailed information on the operation of the JUSP-OP05A Digital Operator.

Describes the following items of Σ-III Series SERVOPACKs and Servomotors.

• Selection of model and capacity

• Ratings, characteristics, and dimensional drawings

• Cables and peripheral devices

• Panel configuration and wiring

• Trial operation, servo adjustment, and functions

• Inspection, maintenance, and troubleshooting

iii

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-

vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related

equipment and systems.

WARNING

CAUTION

PROHIBITED

MANDATORY

Indicates precautions that, if not heeded, could possibly result in loss of life or serious

injury.

Indicates precautions that, if not heeded, could result in relatively serious or minor

injury, damage to the product, or faulty operation.

In some situations, the precautions indicated could have series consequences if not

heeded.

Indicates prohibited actions that must not be performed. For example, this symbol

would be used to indicate that fire is prohibited as follows: .

Indicates compulsory actions that must be performed. For example, this symbol would

be used as follows to indicate that grounding is compulsory: .

The warning symbols for ISO and JIS standards are different, as shown below.

ISO JIS

The ISO symbol is used in this manual.

Both of these symbols appear on warning labels on Yaskawa Electric Engineering products. Please abide by

these warning labels regardless of which symbol is used.

Notes for Safe Operation

Read this manual thoroughly before checking products on delivery, storage and transportation, installation,

wiring, operation and inspection, and disposal of the AC servo drives.

WARNING

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can

be applied at any time.

Failure to observe this warning may result in injury.

• Never touch the inside of the SERVOPACKs.

Failure to observe this warning may result in electric shock.

• Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

• Do not touch terminals for five minutes after voltage resistance test.

Residual voltage may cause electric shock.

• Follow the procedures and instructions for trial operation precisely as noted in this Manual.

• Follow the procedures and instructions for the trial operation as noted in the applicable man-

ual for that product.

Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment, but may also cause an accident resulting in death or injury.

• Do not remove the front cover, cables, connectors, or optional items while the power is ON.

Failure to observe this warning may result in electric shock.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

• Do not damage, press, exert excessive force or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or burning.

• Provide an appropriate stopping device on the machine side to ensure safety. A holding

brake for a servomotor with brake is not a stopping device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting momentary power loss to

avoid an unexpected restart. Take appropriate measures to ensure safety against an unex-

pected restart.

Failure to observe this warning may result in injury.

• Do not modify the product.

Failure to observe this warning may result in injury or damage to the product.

• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).

Improper grounding may result in electric shock or fire.

 Checking on Delivery

CAUTION

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution so may result in fire or malfunction.

 Storage and Transportation

CAUTION

• Do not store or install the product in the following places.

• Locations subject to direct sunlight.

• Locations subject to temperatures outside the range specified in the storage/installation temperature conditions.

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.

• Locations subject to condensation as the result of extreme changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust, salts, or iron dust.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Do not hold the product by the cables or motor shaft while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

 Installation

• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or

combustibles.

Failure to observe this caution may result in electric shock or fire.

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other

devices.

Failure to observe this caution may result in fire or malfunction.

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

CAUTION

 Wiring

CAUTION

• Do not connect a three-phase power supply to the U, V, or W output terminals.

Failure to observe this caution may result in injury or fire.

• Securely connect the power supply terminal screws and motor output terminal screws.

Failure to observe this caution may result in fire.

• Do not bundle or run power and signal lines together in the same duct. Keep power and signal

lines separated by at least 30 cm (11.81 in).

• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder

(PG) feedback lines.

The maximum length is 3 m (118.11 in) for reference input lines and is 20 m (787.40 in) for PG feedback lines.

• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may

still remain in the SERVOPACK.

Make sure the charge indicator is out first before starting an inspection.

• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per

minute.

Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Always use the specified power supply voltage.

An incorrect voltage may result in burning.

• Take appropriate measures to ensure that the input power supply is supplied within the specified

voltage fluctuation range. Be particularly careful in places where the power supply is unstable.

An incorrect power supply may result in damage to the product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each when installing systems in the following

locations.

Failure to observe this caution may result in damage to the product.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery or cause it to explode.

vii

 Operation

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to

avoid any unexpected accidents.

Failure to observe this caution may result in injury.

• Before starting operation with a machine connected, change the settings to match the parameters

of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during

JOG mode operation using parameter Fn002 and zero point search mode using parameter Fn003.

• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to

fall off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero

clamp state at occurrence of overtravel.

Failure to observe this caution may cause workpieces to fall off due to overtravel.

• When not using the normal autotuning, set to the correct moment of inertia ratio.

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON

or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume

operation.

Failure to observe this caution may result in injury.

• Do not use the servo brake of the servomotor for ordinary braking.

Failure to observe this caution may result in malfunction.

viii

 Maintenance and Inspection

CAUTION

• When replacing the SERVOPACK, resume operation only after resetting the potentiometers, pins,

and parameters to their original settings.

Failure to observe this caution may result in damage to the product.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• Do not disassemble the SERVOPACK.

Failure to observe this caution may result in electric shock or injury.

 Disposal

CAUTION

• When disposing of the products, treat them as ordinary industrial waste.

 General Precautions

The following describes general precautions. Note the following to ensure safe application.

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always

replace the cover or protective guard as specified first, and then operate the products in accordance with

the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• This manual is subject to change due to product improvement, specification modification, and manual

improvement. When this manual is revised, the manual code is updated and the new manual is published

as a next edition. The edition number appears on the front and back covers.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa Electric Engineering

representative or one of the offices listed on the back of this manual.

• Yaskawa Electric Engineering will not take responsibility for the results of unauthorized modifications of

this product. Yaskawa Electric Engineering shall not be liable for any damages or troubles resulting from

unauthorized modification.

About this manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii SAFETY INFORMATION- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv Notes for Safe Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v

1 Outline

1.1 Outline- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series - - - - - - - - - - - - - - -1-2

1.2.2 Updated with the Latest Technologies- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2

1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3

1.4 SERVOPACK Part Names- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

2 Specifications and Dimensional Drawings

2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B to SR44B - - - - - - - - - - - - - - - - - - -2-7

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY - - - - - -2-9

3 Wiring

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1 - - - - - - - 3-2

3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2

3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-3

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-5

3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.1 Re-engineered SERVOPACKs for CACR-SRBE

(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-6

3.2.2 Re-engineered SERVOPACKs for CACR-SRBB

(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-8

3.2.3 Re-engineered SERVOPACKs for CACR-SRBY (for Absolute Encoder) - - - - - - - - - - - -3-10

3.2.4 Re-engineered SERVOPACKs for CACR-SRBZ (for Absolute Encoder)- - - - - - - - - - - - -3-12

4 Settings and Display

4.1 Setting Switches- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.7 Digital Operator Connector- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

5 Maintenance, Inspection and Alarm/Warning Display

5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3

5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

Outline

1.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series - - - - - - - - - - 1-2

1.2.2 Updated with the Latest Technologies - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.2.3 Wide Range of Applicable Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

1.3 Applicable Servomotors and Encoders - - - - - - - - - - - - - - - - - - - - - - - - - -1-3

1.4 SERVOPACK Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4

1-1

1 Outline

1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series

1.1 Outline

The re-engineered AC SERVOPACK model CACR-SRBF has been developed to be used for replacement of the conventional SERVOPACK models that had been introduced before Σ-series, using the latest technologies in its circuit configuration.

The re-engineered AC SERVOPACK supports all the types of encoders for AC servodrives: serial encoders and encoders older than serial encoders

The re-engineered AC SERVOPACK provides the operating environment of the following conventional SERVOPACK models.

CACR-SRBA (Speed control/analog control, incremental encoder applicable, base-mounted type)

CACR-SRBB (Speed control/analog control, incremental encoder applicable, base-mounted type)

CACR-SRBZ (Speed control/analog control, absolute encoder applicable, base-mounted type)

CACR-SRBE (Speed control/digital control, incremental encoder applicable, base-mounted type)

CACR-SRBY (Speed control/digital control, absolute encoder applicable, base-mounted type)

1.2 Features

1.2.1 Compatible with SERVOPACK Operating Environments Prior to Σ-Series

Operating Environments:

• External dimensions/installation (Some models require attachments.)

• Main circuit terminals

• Control connector and signal layout

• Recognizes the encoder type prior to Σ series by the switch setting (An encoder signal converter is built in.)

• Important adjustments such as speed gain adjustment can be made using the potentiometers VR. (In the same way as of the conventional models CACR-SRBB and BZ)

1.2.2 Updated with the Latest Technologies

• The basic functions and performance are equivalent to those of Σ-III series SERVOPACK

• The parameters of Σ-III series SERVOPACK are applied. (Parameter setting using a digital operator.)

1.2.3 Wide Range of Applicable Servomotors

The re-engineered AC SERVOPACKs can be combined with various models of servomotors by setting the internal parameters: C series, M series, F series, G series, D series, S series, Σ-series, Σ-II series, and Σ-III series Servomotors.

1-2

1.3 Applicable Servomotors and Encoders

The following servomotors besides Σ series, Σ-II series, Σ-III series are applicable.

Αpplicable Servomotor Models Prior to Σ Series

C Series M Series F Series G Series D Series S Series

USACED-03A USACED-05A

USACED-12A USACED-20A

USACED-30A USACED-44A USACED-60A

Applicable Encoders

Conventional Incremental Encoders 1000 p/r, 1500 p/r, 2500 p/r, 4000 p/r, 5000 p/r, 6000 p/r

Multiplexed Incremental Encoders 2048 p/r, 8192 p/r

Absolute Encoders 1024 p/r, 8192 p/r

USAMED-03 USAMED-06

USAMED-09 USAMED-12

USAMED-20 USAMED-30 USAMED-44

USAMED-60

USAFED-02 USAFED-03

USAFED-05 USAFED-09

USAFED-13 USAFED-20 USAFED-30

USAFED-44

USAGED-02A USAGED-03A

USAGED-05A USAGED-09A

USAGED-13A USAGED-20A USAGED-30A

USAGED-44A

1.3 Applicable Servomotors and Encoders

USADED-05E USADED-10E

USADED-15E USADED-22E

USADED-37E USAGED-44A

USASEM-02A USASEM-03A

USASEM-05A USASEM-08A

USASEM-15A USASEM-30A

1-3

1 Outline

1.4 SERVOPACK Part Names

Control/main circuit power supply terminal

CN3 Connector for personal computer monitoring or digital operator

CN1 I/O signal connector

CN2 Encoder connector

1-4

Specifications and Dimensional Drawings

2.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2

2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4

2.3 Re-engineered AC SERVOPACK Selection - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.4 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B to SR44B - - - - - - - - - - - - - - 2-7

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY 2-9

2-1

2 Specifications and Dimensional Drawings

2.1 Ratings and Specifications

Re-engineered SERVOPACK Model CACR-

Max. Applicable Servomotor Capacity [kW]

Input Power Supply

Continuous Output Current [Arms]

Max. Output Current [Arms]

Control Method Three-phase full-wave rectification IGBT-PWM (sine-wave driven)

Feedback

Operating Conditions

Configuration Base-mounted

Approx. Mass 10 kg

Basic Specifications

Speed Control

Torque Control (Repeatability) ±2 %

Acceleration Time Setting 0 to 10 s

Performance

Main Circuit Three-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz

Control Circuit Single-phase 200 to 230 VAC +10 to -15 %, 50/60 Hz

Ambient Temperature

Storage Temperature

Ambient/ Storage Humidity

Vibration/ Shock Resistance

Speed Control Range 1:3000

Load Regulation 0 to 100 % load: 0.01 % max. (at rated speed)

Speed Regulation

Frequency Characteristics

Voltage Regulation

Temperature Regulation

SR03BF SR05BF SR07BF SR10BF SR15BF SR20BF SR30BF SR44BF SR60BF

0.3 0.5 0.7 1.0 1.5 2.0 3.0 4.4 6.0

3.0 4.2 5.8 7.6 11.7 19.0 26.0 33.0 45.0

8.5 11.0 13.9 17.0 28.0 42.0 56.6 70.0 80.6

Incremental encoder/Absolute encoder

(8192 p/r, 2048 p/r, 1024 p/r, 6000 p/r, 5000 p/r, 4000 p/r, 2500 p/r, 1500 p/r, 1000 p/r, etc.)

0 to 55 °C

-20 to 85 °C

90 % RH or less (with no condensation)

5 m/s2 / 20 m/s2 (0.5G/2G)

0 %

25±25 °C: 0.1% max. (at rated speed)

100 Hz

2-2

2.1 Ratings and Specifications

Speed control

Rated Refer-

Speed/Torque References

Auxiliary Inputs

Built-in Reference Power Supply ±12 VDC±5 %, ±30 mA

Position Output (PG pulses)

Sequence Input Servo ON, P control, forward run prohibited, reverse run prohibited, and alarm reset

Sequence Output Servo alarm, servo ready, TG ON, current limit, and alarm code (3-bit output)

External Current Limits

I/O Signals

Dynamic Brake (DB) Operated at main power OFF, servo alarm, servo OFF.

Regenerative Processing Built-in

Allowable Load Moment of Inertia 5 times of rotor moment of inertia

Overtravel Prevention Operated at P-OT and N-OT

Protection

LED Display 7-segment LED (status and alarm display)

Monitor

Built-in Functions

ence Voltage

Input Impedance About 30 kΩ

Circuit Time Constant

Rated Reference Voltage

Input Impedance About 30 kΩ

Circuit Time Constant

Form Line-driver or open-collector (phase A, phase B, phase C)

Frequency Dividing Ratio

mode

Torque control mode

About 70 µs

±2 V to ±10 VDC (forward rotation with positive reference) at rated speed.

About 70 µs

Any setting ratio

±0 V to ±9 VDC, forward rotation: -3 VDC/rated current, reverse rotation: 3 VDC/rated current

Overcurrent, regeneration error, overvoltage, input overvoltage, overspeed, insufficient voltage, overload, zero-point pulse error, A/D error, overrun detection, open-phase, and CPU error

Speed monitor 1000 r/min

±6 VDC (forward rotation with positive reference) at rated speed

±3 VDC (forward rotation with positive reference) at rated torque

-1

and torque monitor 3V/rated torque

(cont’d)

2-3

2 Specifications and Dimensional Drawings

2.2 SERVOPACK Model Designations

This section explains how to check the SERVOPACK model.

CACR-SRBF1-Y

SERVOPACK prior to the Σ series

SERVOPACK for speed control

Capacity.

Base-mounted re-engineered AC SERVOPACK

Input voltage: 200 V

Applicable encoder

Applicable servomotor

Conventional SERVOPACK model

Y-specification code (Customer-specified code)

(1) SERVOPACK Capacity and Applicable Servomotors (*1, *2)

∗1

∗3

∗2

∗4

*1 Capacity code

(2) Encoders (*3)

Type Pulse Code Type Pulse Code Type Pulse Code

1000 F

1440 H 8192 2 8192 S

1500 E 2500 4

Conventional

incremental

2000 K

2500 C

4000 D

5000 B

6000 A

*2 Applicable servomotor code

MFGSDC

02 − 0.15 0.15 0.15 −−

03 0.3 0.3 0.3 0.31 − 0.25

05 − 0.45 0.45 0.46 0.5 0.5

07 0.6 −−−−−

10 0.9 0.85 0.85 0.77 −−

15 1.2 1.3 1.3 1.54 1.0 1.2

20 2.0 1.8 1.8 − 1.5 1.8

30 3.0 2.9 2.9 3.08 2.2 2.9

44 4.4 4.4 4.4 − 3.7 4.4

60 6.0 −−−−6.0

2048 3

Multiplexed

Absolute

incremental

Unit: kW

1024 W

2-4

(3) Conventional SERVOPACKs (*4)

Model Code

CACR-SRBB B CACR-SRBZ Z CACR-SRBE E CACR-SRBY Y CACR-SRBA A

2.3 Re-engineered AC SERVOPACK Selection

Conventional SERVOPACK Model SRBB

Applicable

Servomotors

USAMED-03 CACR-SR03BB1MCACR-SR03BF1MB CACR-SR03BZ1M CACR-SR03BF1MZ USAMED-06 CACR-SR07BB1MCACR-SR07BF1MB CACR-SR07BZ1M CACR-SR07BF1MZ USAMED-09 CACR-SR10BB1MCACR-SR10BF1MB CACR-SR10BZ1M CACR-SR10BF1MZ USAMED-12 CACR-SR15BB1MCACR-SR15BF1MB CACR-SR15BZ1M CACR-SR15BF1MZ

USAMED-20 CACR-SR20BB1MCACR-SR20BF1MB CACR-SR20BZ1M CACR-SR20BF1MZ USAMED-30 CACR-SR30BB1MCACR-SR30BF1MB CACR-SR30BZ1M CACR-SR30BF1MZ USAMED-44 CACR-SR44BB1MCACR-SR44BF1MB CACR-SR44BZ1M CACR-SR44BF1MZ USAMED-60 CACR-SR60BB1MCACR-SR60BF1MB CACR-SR60BZ1M CACR-SR60BF1MZ

USAFED-02 CACR-SR03BB1F CACR-SR03BF1FB CACR-SR03BZ1F CACR-SR03BF1FZ USAFED-03 CACR-SR03BB1F CACR-SR03BF1FB CACR-SR03BZ1F CACR-SR03BF1FZ USAFED-05 CACR-SR05BB1F CACR-SR05BF1FB CACR-SR05BZ1F CACR-SR05BF1FZ USAFED-09 CACR-SR10BB1F CACR-SR10BF1FB CACR-SR10BZ1F CACR-SR10BF1FZ

USAFED-13 CACR-SR15BB1F CACR-SR15BF1FB CACR-SR15BZ1F CACR-SR15BF1FZ USAFED-20 CACR-SR20BB1F CACR-SR20BF1FB CACR-SR20BZ1F CACR-SR20BF1FZ USAFED-30 CACR-SR30BB1F CACR-SR30BF1FB CACR-SR30BZ1F CACR-SR30BF1FZ USAFED-44 CACR-SR44BB1F CACR-SR44BF1FB CACR-SR44BZ1F CACR-SR44BF1FZ

USAGED-02A

USAGED-03A

USAGED-05A

USAGED-09A

USAGED-13A

USAGED-20A

USAGED-30A

USAGED-44A USADED-05E CACR-SR05BB1D CACR-SR05BF1DB CACR-SR05BZ1D CACR-SR05BF1DZ USADED-10E CACR-SR10BB1D CACR-SR10BF1DB CACR-SR10BZ1D CACR-SR10BF1DZ

USADED-15E CACR-SR20BB1D CACR-SR20BF1DB CACR-SR20BZ1D CACR-SR20BF1DZ USADED-22E CACR-SR30BB1D CACR-SR30BF1DB CACR-SR30BZ1D CACR-SR30BF1DZ USADED-37E CACR-SR44BB1D CACR-SR44BF1DB CACR-SR44BZ1D CACR-SR44BF1DZ USASEM-02A CACR-SR02BB1S CACR-SR02BF1SB CACR-SR02BZ1S CACR-SR02BF1SZ USASEM-03A CACR-SR03BB1S CACR-SR03BF1SB CACR-SR03BZ1S CACR-SR03BF1SZ USASEM-05A CACR-SR05BB1S CACR-SR05BF1SB CACR-SR05BZ1S CACR-SR05BF1SZ

USASEM-08A CACR-SR10BB1S CACR-SR10BF1SB CACR-SR10BZ1S CACR-SR10BF1SZ USASEM-15A CACR-SR15BB1S CACR-SR15BF1SB CACR-SR15BZ1S CACR-SR15BF1SZ USASEM-30A CACR-SR30BB1S CACR-SR30BF1SB CACR-SR30BZ1S CACR-SR30BF1SZ

and Re-engineered SERVOPACK Model

Conventional Model

SRBB

Re-engineered Model

SRBF

Conventional SERVOPACK Model SRBZ

and Re-engineered SERVOPACK Model

Conventional Model

SRBZ

Re-engineered Model

SRBF

2-5

2 Specifications and Dimensional Drawings

Conventional SERVOPACK Model SRBE

Applicable

Servomotors

USAMED-03 CACR-SR03BE1M CACR-SR03BF1ME CACR-SR03BY1M CACR-SR03BF1MY USAMED-06 CACR-SR07BE1M CACR-SR07BF1ME CACR-SR07BY1M CACR-SR07BF1MY USAMED-09 CACR-SR10BE1M CACR-SR10BF1ME CACR-SR10BY1M CACR-SR10BF1MY USAMED-12 CACR-SR15BE1M CACR-SR15BF1ME CACR-SR15BY1M CACR-SR15BF1MY

USAMED-20 CACR-SR20BE1M CACR-SR20BF1ME CACR-SR20BY1M CACR-SR20BF1MY USAMED-30 CACR-SR30BE1M CACR-SR30BF1ME CACR-SR30BY1M CACR-SR30BF1MY USAMED-44 CACR-SR44BE1M CACR-SR44BF1ME CACR-SR44BY1M CACR-SR44BF1MY USAMED-60 CACR-SR60BE1M CACR-SR60BF1ME CACR-SR60BY1M CACR-SR60BF1MY

USAFED-02 CACR-SR03BE1F CACR-SR03BF1FE CACR-SR03BY1F CACR-SR03BF1FY USAFED-03 CACR-SR03BE1F CACR-SR03BF1FE CACR-SR03BY1F CACR-SR03BF1FY USAFED-05 CACR-SR05BE1F CACR-SR05BF1FE CACR-SR05BY1F CACR-SR05BF1FY USAFED-09 CACR-SR10BE1F CACR-SR10BF1FE CACR-SR10BY1F CACR-SR10BF1FY

USAFED-13 CACR-SR15BE1F CACR-SR15BF1FE CACR-SR15BY1F CACR-SR15BF1FY USAFED-20 CACR-SR20BE1F CACR-SR20BF1FE CACR-SR20BY1F CACR-SR20BF1FY USAFED-30 CACR-SR30BE1F CACR-SR30BF1FE CACR-SR30BY1F CACR-SR30BF1FY

USAFED-44 CACR-SR44BE1F CACR-SR44BF1FE CACR-SR44BY1F CACR-SR44BF1FY USAGED-02A CACR-SR02BE1GCACR-SR02BF1GE CACR-SR02BY1G CACR-SR02BF1GY USAGED-03A CACR-SR03BE1GCACR-SR03BF1GE CACR-SR03BY1G CACR-SR03BF1GY USAGED-05A CACR-SR05BE1GCACR-SR05BF1GE CACR-SR05BY1G CACR-SR05BF1GY USAGED-09A CACR-SR10BE1GCACR-SR10BF1GE CACR-SR10BY1G CACR-SR10BF1GY

USAGED-13A CACR-SR15BE1GCACR-SR15BF1GE CACR-SR15BY1G CACR-SR15BF1GY USAGED-20A CACR-SR20BE1GCACR-SR20BF1GE CACR-SR20BY1G CACR-SR20BF1GY USAGED-30A CACR-SR30BE1GCACR-SR30BF1GE CACR-SR30BY1G CACR-SR30BF1GY USAGED-44A CACR-SR44BE1GCACR-SR44BF1GE CACR-SR44BY1G CACR-SR44BF1GY USADED-05E CACR-SR05BE1DCACR-SR05BF1DE CACR-SR05BY1D CACR-SR05BF1DY USADED-10E CACR-SR10BE1DCACR-SR10BF1DE CACR-SR10BY1D CACR-SR10BF1DY

USADED-15E CACR-SR20BE1DCACR-SR20BF1DE CACR-SR20BY1D CACR-SR20BF1DY USADED-22E CACR-SR30BE1DCACR-SR30BF1DE CACR-SR30BY1D CACR-SR30BF1DY USADED-37E CACR-SR44BE1DCACR-SR44BF1DE CACR-SR44BY1D CACR-SR44BF1DY USASEM-02A CACR-SR02BE1S CACR-SR02BF1SE CACR-SR02BY1S CACR-SR02BF1SY USASEM-03A CACR-SR03BE1S CACR-SR03BF1SE CACR-SR03BY1S CACR-SR03BF1SY USASEM-05A CACR-SR05BE1S CACR-SR05BF1SE CACR-SR05BY1S CACR-SR05BF1SY

USASEM-08A CACR-SR10BE1S CACR-SR10BF1SE CACR-SR10BY1S CACR-SR10BF1SY USASEM-15A CACR-SR15BE1S CACR-SR15BF1SE CACR-SR15BY1S CACR-SR15BF1SY USASEM-30A CACR-SR30BE1S CACR-SR30BF1SE CACR-SR30BY1S CACR-SR30BF1SY

and Re-engineered SERVOPACK Model

Conventional Model

Re-engineered Model

　SR

Conventional SERVOPACK Model

SRBYand Re-enginerred SERVOPACK

Model

Conventional Model

Re-engineered Model

　SR

2-6

2.4 Dimensional Drawings

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B to SR44B

(1) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SRBB

and -SRBZ

Note:  at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SRBB is “B” , and

that for CACR-SRBZ is “Z” .

For Conventional M-series For Conventional F-series For Conventional D-series For Conventional S-series

Models for which no mounting attachment is required

CACR-SR03BF1M CACR-SR03BF1F CACR-SR05BF1D CACR-SR02BF1S CACR-SR07BF1M CACR-SR05BF1F CACR-SR10BF1D CACR-SR03BF1S CACR-SR10BF1M CACR-SR10BF1F CACR-SR05BF1S CACR-SR15BF1M CACR-SR15BF1F CACR-SR10BF1S

CACR-SR15BF1S CACR-SR30BF1S

Models for which the mounting attachment F352086-A is required

CACR-SR20BF1M CACR-SR20BF1F CACR-SR20BF1D CACR-SR30BF1S CACR-SR30BF1M CACR-SR30BF1F CACR-SR30BF1D CACR-SR44BF1M CACR-SR44BF1F CACR-SR44BF1D

2-7

2 Specifications and Dimensional Drawings

2.4.1 Re-engineered AC SERVOPACKs for CACR-SR02B to SR44B

(2) Re-engineered AC SERVOPACK Models for Conventional Models CACR-SRBE

and -SRBY

Note:  at the end of the model codes of the re-engineered AC SERVOPACK for CACR-SRBE is “E” , and

that for CACR-SRBY is “Y” .

For Conventional

M-series

For Conventional

F-series

For Convention

D-series

For Conventional

S-series

For Conventional

G-series

No mounting attachment is required for SERVOPACKs 4.4 kW or less.

CACR-SR03BF1M CACR-SR03BF1F CACR-SR05BF1D CACR-SR02BF1S CACR-SR02BF1G CACR-SR07BF1M CACR-SR05BF1F CACR-SR10BF1D CACR-SR03BF1S CACR-SR03BF1G CACR-SR10BF1M CACR-SR10BF1F CACR-SR20BF1D CACR-SR05BF1S CACR-SR05BF1G CACR-SR15BF1M CACR-SR15BF1F CACR-SR30BF1D CACR-SR10BF1S CACR-SR10BF1G CACR-SR20BF1M CACR-SR20BF1F CACR-SR44BF1D CACR-SR15BF1S CACR-SR15BF1G CACR-SR30BF1M CACR-SR30BF1F CACR-SR30BF1S CACR-SR20BF1G CACR-SR44BF1M CACR-SR44BF1F CACR-SR30BF1G CACR-SR44BF1M CACR-SR44BF1F CACR-SR44BF1G

Attachment product code: F352086-A

2 × 7 dia. holes

Dimensions in mm

F352086-A includes: y Attachment y SERVOPACK mounting bolts

Mounting base (included)

Attachment product code: F352086-A

4 × SERVOPACK mounting screws M6 × 16 (included)

2-8

2.4 Dimensional Drawings

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY

(1) Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY

CACR-SR60BF1MB CACR-SR60BF1MZ CACR-SR60BF1ME CACR-SR60BF1MY

Attachment product code: F352087-A

2 × 7 dia. holes

F352087-A includes: y Attachment y SERVOPACK mounting bolts

Mounting base (included)

Dimensions in mm

4 × SERVOPACK mounting screws M6 × 16 (included)

Attachment product code: F352087-A

2-9

Wiring

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1 - - - 3-2

3.1.1 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.2 Names and Description of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.1.3 Connector Receptacle Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.4 CN1 I/O Signal Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - 3-5

3.2 I/O Signal Connector Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.1 Re-engineered SERVOPACKs for CACR-SRBE

(for Multiplexed Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6

3.2.2 Re-engineered SERVOPACKs for CACR-SRBB

(for Conventional Incremental Encoder) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8

3.2.3 Re-engineered SERVOPACKs for CACR-SRBY (for Absolute Encoder) - - - - - - - 3-10

3.2.4 Re-engineered SERVOPACKs for CACR-SRBZ (for Absolute Encoder) - - - - - - - 3-12

3-1

3 Wiring

3.1.1 Connection Diagram

3.1 Wiring for Re-engineered AC SERVOPACKs

CACR-SRBF1

3.1.1 Connection Diagram

Re-engineered AC SERVOPACK

Regenerative resistor

Main circuit power supply Three-phase 200V/220V 50/60 Hz

Control circuit power supply Single-phase 200V/220V

50/60Hz

Y3 Y4

R S T

r t

Encoder signal conversion function built-in

U V W

AC Servomotor

I/O signals

y Speed reference y PG signal y Operation signal

Digital operator

JUSP-OP05A

CN1

CN3

CN2

3.1.2 Names and Description of Main Circuit Terminals

Terminal Symbol Name Description

(R) (S) (T)

(U) (V) (W)

(r) (t)

(Y3) (Y4)

Main circuit input terminals

Servomotor connection terminals

Control circuit input terminals

Three-phase 200 to 230 VAC

Connect (U) to the terminal A, (V) to the terminal B, (W) to the terminal C of Servomotor.

Single-phase 200 to 230 VAC

Ground terminal Connect to the power supply ground terminal and the Servomotor D terminal.

Regenerative resistor terminals

Regenerative resistor connection terminals (normally not to be connected externally.)

Encoder

+10 to -15 %, 50/60 Hz

3-2

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1

3.1.3 Connector Receptacle Specifications

CN1: For I/O signals

Applicable Receptacle Model

Inside

SERVOPACK

MR-50RMA MR-50F MRP-50F01 MR-50L

Soldered Type Caulking Type Case Manufacturer

CN2: For connecting the optical encoder (PG)

Applicable Receptacle Model

Inside

SERVOPACK

MR-20RMA MR-20F MRP-20F01 MR-20L

Soldered Type Caulking Type Case Manufacturer

CN3: For connecting the digital operator

Half-pitch Connector

Plug Shell Manufacturer

10114-3000VE 10314-52A0-008

SUMITOMO 3M

Limited

3.1.4 CN1 I/O Signal Connector Terminal Layout

Re-engineered AC

SERVOPACK

Pin No.

Model

Model No. ended with B (Model for

SRBB)

SG SG SG SG

PHA SEN PHA SEN

/V-CMP+ /V-CMP+ /V-CMP+ /V-CMP+

/V-CMP- /V-CMP- /V-CMP- /V-CMP-

+24V-IN +24V-IN +24V-IN +24V-IN

/S-ON /S-ON /S-ON /S-ON

TMON TMON TMON TMON

VTG VTG VTG VTG

SG SG SG SG

IN-A IN-A V-REF V-REF

SG SG SG SG

IN-B IN-B T-REF T-REF

SG SG SG SG

+12V +12V +12V +12V

SG SG SG SG

FG FG FG FG

PCO PCO PCO PCO

/PCO /PCO /PCO /PCO

PHC BAT+ PHC BAT+

/TGON+ /TGON+ /TGON+ /TGON+

/TGON- /TGON- /TGON- /TGON-

CACR-SRBF1

Model No. ended

with Z (Model for

SRBZ)

Model No. ended with E (Model for

SRBE)

Honda

Communication

Industries Co., Ltd.

Honda

Communication

Industries

Model No. ended with Y (Model for

Co., Ltd.

SRBY)

3-3

3 Wiring

3.1.4 CN1 I/O Signal Connector Terminal Layout

Re-engineered AC

SERVOPACK

Model

Pin No.

Model No. ended with B (Model for

SRBB)

/P-CON /P-CON /P-CON /P-CON

OL- OL- AL01

N-OT N-OT N-OT N-OT

/S-RDY- /S-RDY- /S-RDY- /S-RDY-

/S-RDY+ /S-RDY+ /S-RDY+ /S-RDY+

N-CL N-CL N-CL N-CL

SG SG SG SG

-12V -12V -12V -12V

SG SG SG SG

PA O PAO PA O PAO

/PAO /PAO /PAO /PAO

PBO PBO PBO PBO

/PBO /PBO /PBO /PBO

PHB BAT- PHB BAT-

ALM+ ALM+ ALM+ ALM+

ALM- ALM- ALM- ALM-

OL+ OL+ AL02

P-OT P-OT P-OT P-OT

empty

P-CL P-CL P-CL P-CL

SG SG SG SG

-12V -12V -12V -12V

SG SG SG SG

+12V +12V +12V +12V

SG SG SG SG

FG FG FG FG

* 1. The MCB trip signal output function is not provided for SRBB and SRBZ.

* 2. The PG signal output phase S is not provided for SRBY.

(cont’d)

CACR-SRBF1

Model No. ended

with Z (Model for

SRBZ)

empty

Model No. ended with E (Model for

SRBE)

Model No. ended with Y (Model for

SRBY)

empty

AL03 empty

/ALM-RST /ALM-RST

3-4

3.1 Wiring for Re-engineered AC SERVOPACKs CACR-SRBF1

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout

For Conventional

Pin No.

1 0 V 0 V 0 V

2 0 V 0 V 0 V

3 0 V 0 V 0 V

4 PG5 V PG5 V PG5 V

5 PG5 V PG5 V PG5 V

6 PG5 V PG5 V PG5 V

7 DIR DIR DIR

8 PU −

9 /PU −

10 PV Absolute RST Absolute RST

11 /PV −−

12 PW BAT BAT

13 / PW B AT 0 B AT 0

14 PC PC PC

15 /PC /PC /PC

16 PA PA PA

17 /PA /PA /PA

18 PB PB PB

19 /PB /PB /PB

20 FG FG FG

Incremental

Encoder

For Multiplexed

Type Incremental

Encoder

For Absolute

Encoder

−

* The phase S rotation amount serial data of 12-bit absolute PG is not processed.

3-5

3 Wiring

3.2.1 Re-engineered SERVOPACKs for CACR-SRBE (for Multiplexed Incremental Encoder)

3.2 I/O Signal Connector Terminals

3.2.1 Re-engineered SERVOPACKs for CACR-SRBE

(for Multiplexed Incremental Encoder)

Example: CACR-SR20BF12FE that have replaced CACR-SR20BE12F

Torque monitor

F-series: 3.0 V±10 %/100 %

Speed monitor

F-series: 2.0 V±10 %/1000 min

Speed reference input ±6V/rated speed

Auxiliary speed reference input ±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %±10 %/+3.0V input

Forward rotation current limit +100 %±10 %/-3.0V input

Servo ON

24V

when 1RY is ON

P control when 2Ry is ON (PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

Alarm reset when 9Ry is ON

3Ry turns ON when current limit detected

4Ry turns ON when TG turns ON.

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

Phase A

Phase B

Phase C

PG signal open collector output

Alarm code output

24V

0 V 0 V 0 V

1Ry

-1

2Ry

N-LS

P-LS

9Ry

3Ry

4Ry

5Ry

6Ry

PAO

/PAO

PBO

/PBO

PCO

/PCO

PHA

PHB

PHC

ALO1

ALO2

ALO3

+24Vin

S-ON

P-CON

N-OT

P-OT

ALM-RST

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

SERVOPACK

CN1

1-9

1-10

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

1-7

1-8

1-24

1-26

1-41

1-43

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

1-33

1-34

1-35

1-36

1-19

1-20

1-4

1-37

1-21

1-25

1-40

1-42

1-3 1-2 1-1

1-50 1-18

LPF

5 mA

CACR-SR20BF12FE

16-bit

D/A

16-bit

D/A

16-bit

D/A

Output

Max. voltage Max. current

Output line driver LS75ALS174

+12 V

Output open collector LS07

-12 V

CPU

30 VDC 30 mA

1-16

1-48

1-17

1-32

1-47

1-49

1-11

1-31

1-46

3-6

3.2 I/O Signal Connector Terminals

Optical encoder

SERVOPACK

CACR-SR20BF12FE

CN2

2-16

2-17

2-18

2-19

2-14

2-15

/PA

/PB

/PC

2-4

2-1

2-5

PG5 V

PG0 V

2-2

2-6

2-3

2-7

2-20

DIR

1-50

3-7

3 Wiring

3.2.2 Re-engineered SERVOPACKs for CACR-SRBB (for Conventional Incremental Encoder)

3.2.2 Re-engineered SERVOPACKs for CACR-SRBB

(for Conventional Incremental Encoder)

Example: CACR-SR20BF1AMB that have replaced CACR-SR20BB1AM

Torque monitor

M-series: 3.0 V±10 %/100 %

Speed monitor

M-series: 4.0 V±10 %/1000 min

Speed reference input ±6 V/rated speed

Auxiliary speed reference input ±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %±10 %/+3.0 V input

Forward rotation current limit +100 %±10 %/-3.0 V input

Servo ON when 1Ry is ON

24V

P control when 2Ry is ON (PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

3Ry turns ON when current limit detected

24V

4Ry turns ON when TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

1Ry

2Ry

N-LS

P-LS

3Ry

4Ry

5Ry

6Ry

-1

+24Vin

S-ON

P-CON

N-OT

P-OT

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

SERVOPACK

CN1

1-9

1-10

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

1-7

1-8

1-24

1-26

1-41

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

5 mA

CACR-SR20BF1AMB

limit

Current

Output

Max. voltage: 30 VDC Max. current: 30 mA

3-8

8Ry

PAO

/PAO

PBO

/PBO

PCO

/PCO

PHA

PHB

PHC

OL-

1-40

1-25

1-33

1-34

1-35

1-36

1-19

1-20

1-4

1-37

1-21

1-3

1-2

1-1

1-50 1-18

8Ry turns OFF for a OL alarm

Phase A

Phase B

Phase C

PG signal open collector output

0 V 0 V 0 V

Note: MCB trip (CN1-43 and -42) outputs are not provided.

Output line driver LS75ALS174

+12 V

Output open collector LS07

-12 V

1-16

1-48

1-17

1-32

1-47

1-49

1-11

1-31

1-46

3.2 I/O Signal Connector Terminals

SERVOPACKOptical Encoder

CN2

2-16

2-17

2-18

2-19

2-14

2-15

2-8

2-9

2-10

2-11

2-12

2-13

2-4

2-1

/PA

/PB

/PC

/PU

/PV

/PW

CACR-SR20BF1AMB

PG5V

PG0V

2-5

2-2

2-6

2-3

2-7

2-20

DIR

1-50

3-9

3 Wiring

3.2.3 Re-engineered SERVOPACKs for CACR-SRBY (for Absolute Encoder)

Example: CACR-SR20BF1SFY that have replaced CACR-SR20BY1SF

SERVOPACK CACR-SR20BF1SFY

Torque monitor

F-series: 3.0 V±10 %/100 %

Speed monitor

F-series: 2.0 V±10 %/1000 min

Speed reference input ±6 V/rated speed

Auxiliary speed reference input ±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %±10 %/+3.0 V input

Forward rotation current limit +100 %±10 %/-3.0 V input

Servo ON

24 V

when 1Ry is ON

P control when 2Ry is ON (PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

Alarm reset when 9Ry is ON

3Ry turns ON when current limit detected

4Ry turns ON when TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

Phase A

Phase B

Phase C

Battery

2.8 to 4.5 V

24 V

SEN

0SEN

0V 0V

-1

+24Vin

1Ry

2Ry

N-LS

P-LS

9Ry

3Ry

4Ry

5Ry

6Ry

/PAO

PBO

/PBO

PCO

/PCO

BAT

BAT0

S-ON

P-CON

N-OT

P-OT

ALM-RST

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

PAO

CN1

1-9

1-10

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

1-7

1-8

1-24

1-26

1-41

1-43

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

1-33

1-34

1-35

1-36

1-19

1-20

1-2

LPF

5 mA

1-4

1-3

1-1

1-21

1-37

16-bit

D/A

16-bit

D/A

16-bit

D/A

Output

Max. voltage: 30 VDC Max. current: 30 mA

Output line driver

LS75ALS174

+12 V

-12 V

CPU

1-16

1-48

1-17

1-32

1-47

1-49

1-11

1-31

1-46

3-10

1-50 1-18

3.2 I/O Signal Connector Terminals

Optical encoder

15-bit absolute encoder

SERVOPACK CACR-SR20BF1SFY

CN2

2-16

2-17

2-18

2-19

2-14

2-15

2-4

2-1

2-5

2-2

2-6

2-3

2-10

2-12

2-13

2-20

/PA

/PB

/PC

PG5 V

PG0 V

1-21

1-37

1-50

BAT

BAT0

Optical encoder

12-bit absolute encoder

/PS

Note

SERVOPACK CACR-SR20BF1WFY

CN2

2-16

2-17

2-18

2-19

2-14

2-15

2-4

2-1

2-5

2-2

2-6

2-3

2-10

2-12

2-13

2-20

/PA

/PB

/PC

PG5 V

PG0 V

1-21

1-37

1-50

BAT

BAT0

Note: Cut the rotation amount data signal line on the Servomotor encoder cable side.

3-11

3 Wiring

3.2.4 Re-engineered SERVOPACKs for CACR-SRBZ (for Absolute Encoder)

Example: CACR-SR20BF1SMZ that have replaced CACR-SR20BZ1SM

Torque monitor

M-series: 3.0 V±10 %/100 %

Speed monitor

M-series: 4.0 V±10 %/1000 min

-1

SERVOPACK CACR-SR20BF1SMZ

CN1

1-9

1-10

Speed reference input

±6 V/rated speed

Auxiliary speed reference input

±2 to ±10 V/rated speed

Reverse rotation current limit

-100 %±10 %/+3.0 V input

Forward rotation current limit

+100 %±10 %/-3.0 V input

Servo ON

24 V

when 1Ry is ON

P control when 2Ry is ON (PI control when 2Ry is OFF)

Reverse run prohibited when N-LS is open

Forward run prohibited when P-LS is open

3Ry turns ON when current limit detected

24 V

4Ry turns on when TG turns ON

5Ry turns OFF for a servo alarm

6Ry turns ON when servo ready

1Ry

2Ry

N-LS

P-LS

3Ry

4Ry

5Ry

6Ry

+24Vin

S-ON

P-CON

N-OT

P-OT

CLT+

CLT-

TGON+

TGON-

ALM+

ALM-

S-RDY+

S-RDY-

1-12

1-13

1-14

1-15

1-29

1-30

1-44

1-45

1-7

1-8

1-24

1-26

1-41

1-5

1-6

1-22

1-23

1-38

1-39

1-28

1-27

5 mA

5mA

limit

Current

Output

Max. voltage: 30 VDC Max. current: 30 mA

8Ry

PAO

/PAO

PBO

/PBO

PCO

/PCO

BAT

BAT0

OL-

1-40

1-25

1-33

1-34

1-35

1-36

1-19

1-20

1-4

1-3

1-2

1-1

1-21

1-37

1-50 1-18

8Ry turns OFF for a OL alafm

Battery

2.8 to 4.5 V

Phase A

Phase B

Phase C

SEN 0SEN

0 V

Note: MCB trip (CN1-43 and -42) outputs are not provided.

Output line driver

LS75ALS174

+12 V

-12 V

1-16

1-48

1-17

1-32

1-47

1-49

1-11

1-31

1-46

3-12

3.2 I/O Signal Connector Terminals

Optical encoder

15-bit absolute encoder

SERVOPACK

CACR-SR20BF1SMZ

CN2

2-16

2-17

2-18

2-19

2-14

2-15

2-4

2-1

2-5

2-2

2-6

/PA

/PB

/PC

PG5 V

PG0 V

2-3

2-10

2-12

2-13

2-20

1-21

1-37

1-50

BAT

BAT0

3-13

Settings and Display

4.1 Setting Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.1.1 Setting Fixed Switches (User’s Modification Prohibited) - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.2 Switches To Be Set According to Application - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.3 Potentiometers VR and RH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.1.4 Alarm Reset Button - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.5 LED Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.6 Monitoring Pins - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.1.7 Digital Operator Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4

4.2 Factory Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-5

4.2.1 Pin Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

4.2.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4-1

4 Settings and Display

4.1 Setting Switches

The setting switches are provided on the board inside the re-engineered AC SERVOPACK CACR-SRBF to

ensure the operating environment of the corresponding conventional model.

There are two types of switches: The switches that have been set and fixed according to the corresponding con-

ventional model before shipment, and the switches that need to be set by users according to the application.

CN503

CN17

SL5

LED lamp (1

(CHARGE)

DS1

CN12

CN22 CN23

SW2

CN24

CN13

CN14

SW3

SL7

CN21 CN11 CN10

331131

CN2

3131

CN4 CN16

TMON

VTG GND

LED lamp (2

RUN ALARM

CN20

LED lamp (3

CN15

DSW1 DSW5

CN26

331

ZERO LOOP IN-B

PG5V RESET VR5 FINE

CN18

CN7 CN5

31 31

CUR

CN6

CN1

CN3

CN19

CN8 CN9

4-2

4.1.1 Setting Fixed Switches (User’s Modification Prohibited)

The switches listed in the table below have been set to the appropriate values before shipment.

Do not change the settings of these switches. Doing so will cause motor runaway or SERVOPACK failure.

Switch No. Name Remarks

CN4 Model depended function selection switch

CN5 Model depended function selection switch

CN6 Model depended function selection switch

CN7 Model depended function selection switch

CN8 Model depended function selection switch Not mounted

CN9 Model depended function selection switch Not mounted

CN10 Model depended function selection switch

CN11 Model depended function selection switch

CN13 Model depended function selection switch

CN14 Model depended function selection switch

CN15 Model depended function selection switch

CN16 Model depended function selection switch

CN18 Model depended function selection switch

CN20 Model depended function selection switch

CN21 Model depended function selection switch

CN22 Model depended function selection switch

CN23 Model depended function selection switch

CN24 Model depended function selection switch

CN26 Model depended function selection switch

S2 Model depended function selection switch

SL5 Speed feedback gain switching

SW3-7 Speed feedback gain switching

CN503 PC connection connector Connector for personal computer cable

4.1 Setting Switches

4.1.2 Switches To Be Set According to Application

The switches listed in the table below need to be set by users according to the application.

Switch No. Name Remarks

SL7 Torque filter switching

SW2 Frequency dividing ratio setting SW3 Setting for CACR-SRBB/BZ

DSW1 Encoder setting

DSW5 Encoder setting

4.1.3 Potentiometers VR and RH

Set the following potentiometers to the same scale positions as those of your conventional SERVOPACK to obtain the same performance as before replacement.

VR1 IN-B IN-B input gain

VR6 LOOP Speed loop gain

VR3 ZERO Speed amplifier zero adjustment

VR4 FINE IN-B fine adjustment

VR5 CUR Starting current adjustment

RH2 PG5V PG voltage adjustment

4-3

4 Settings and Display

4.1.4 Alarm Reset Button

When a SERVOPACK alarm occurs, eliminate the cause and then press the RESET Button to reset the servo

alarm.

If the cause has not been eliminated, the alarm will occur again.

RESET Alarm reset button

4.1.5 LED Display

There are four LEDs on the board as follows.

DS1 7-Segment LED SERVOPACK status and alarm display

LED lamp (1) Main circuit CHARGE LED Main circuit with high-voltage

LED lamp (2) Encoder conversion function Lit in yellow during normal operation

LED lamp (3) Encoder conversion alarm Lit in red at alarm occurrence

4.1.6 Monitoring Pins

The monitoring pins listed in the table below are provided for monitor signals.

The levels are the same as the conventional models.

TMON For torque monitor

VTG For speed monitor

GND GND for monitor signal line

4.1.7 Digital Operator Connector

When using the re-engineered SERVOPACK as the replacement of the conventional model CACR-SRBE or

CACR-SRBY, the connector CN3 is used to connect the digital operator JUSP-OP05A.

CN3

Connector for Σ-III series digital operator

Cable connector

4-4

4.2 Factory Settings

4.2.1 Pin Settings

4.2 Factory Settings

Switch

No.

CN4 Short-circuited Pins 1-2 2-3 1-2 open

CN5 Short-circuited Pins 1-2 1-2 2-3 2-3

CN6 Short-circuited Pins 1-2 1-2 2-3 2-3

CN7 Short-circuited Pins 1-2 1-2 2-3 2-3

CN8 Short-circuited Pins

CN9 Short-circuited Pins

CN10 Short-circuited Pins 1-2 2-3 1-2 2-3

CN11 Short-circuited Pins 1-2 2-3 1-2 2-3

CN13 Short-circuited Pins 1-2 1-2 1-2 1-2

CN14 Short-circuited Pins 1-2 1-2 1-2 1-2

CN15 Short-circuited Pins

CN16 Short-circuited Pins 1-2 2-3 1-2 open

CN18 Short-circuited Pins 1-2 1-2 1-2 1-2

CN20 Short-circuited Pins 1-2 2-3 1-2 2-3

CN21 Short-circuited Pins 1-2 1-2 2-3 2-3

CN22 Short-circuited Pins 1-2 1-2 2-3 2-3

CN23 Short-circuited Pins 1-2 1-2 2-3 2-3

CN24 Short-circuited Pins 1-2 2-3 1-2 1-2

CN26 Short-circuited Pins

Setting

Applicable Conventional SERVOPACK Model

SRBA SRBB

Set to the defaults at factory depending on re-engineered

SRBE SRBZ SRBY

Not mounted

AC SERVOPACK model

Remarks

See Table 4.1

S2 6-digit ON/OFF

SL5 Short-circuited Pins

SL7 Short-circuited Pins

SW2 8-digit ON/OFF See Table 4.6

SW3 8-digit ON/OFF See Table 4.4

DSW1 Hexadecimal switching

DSW5 Hexadecimal switching

Model CACR- S2-1 S2-2 S2-3 S2-4 S2-5 S2-6 CN15 CN26

SR03BF

SR05BF

SR07BF to 10BF

SR15BF

SR20BF

SR30BF

SR44BF

SR60BF

OFFONONONONONOPENOPEN

OFFONONONONOFF2-3 2-3

OFF ON ON ON OFF ON 1-2 1-2

OFF ON ON OFF ON ON 1-2 1-2

OFF ON ON OFF OFF OFF 1-2 1-2

OFF ON OFF ON ON OFF 1-2 1-2

OFF ON OFF ON OFF ON 1-2 1-2

OFF ON OFF OFF ON ON 1-2 1-2

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

Set to the defaults at factory depending on re-engineered

AC SERVOPACK model

These switches are set to the defaults at factory. Change the setting according to the application.

Set to the defaults at factory depending on encoder type See Table 4.2

Table 4.1

See Table 4.1

See Table 4.3

See Table 4.5

4-5

4 Settings and Display

4.2.1 Pin Settings

Table 4.2

Servomotor Encoder Specifications Setting

Encoder Type

Model

Code

No. of

Pulses

DSW1DSW51234567

F 1000 P/R

0 ONONONONOFFOFFOFF

SW2

Status

H 1440 P/R 1 ON ON ON ON OFF ON OFF

E 1500 P/R 2 OFF OFF ON ON OFF OFF OFF

Conventional

incremental

K 2000 P/R 3 OFF ON OFF ON OFF OFF OFF

C 2500 P/R 4 ON ON ON OFF OFF OFF OFF

D 4000 P/R 5 ON OFF ON OFF OFF OFF OFF

B 5000 P/R 6 ON ON OFF OFF OFF OFF OFF

A 6000 P/R 7 OFF ON OFF OFF OFF OFF OFF

M 30000 P/R 9 ON ON ON ON ON ON OFF

Multiplexed incremental

Absolute

3 2048 P/R

2 8192 P/R 1 OFF OFF OFF OFF OFF OFF OFF

W 1024 P/R

S 8192 P/R 1 OFF OFF OFF OFF OFF OFF OFF

Set according to the number of encoder pulses.

0 ONOFFOFFONOFFOFFOFF

0 OFF ON ON ON OFF OFF OFF

When the SERVOPACK output dividing ratio is set to 1/1

Pn212 is enabled when SW2-8 is ON.

The settings shown in Tables 4.3, 4.4 and 4.5 are valid on the re-engineered AC SERVOPACKs for CACR-

SRBB and -SRBZ, but invalid for the re-engineered AC SERVOPACK for CACR-SRBE and -

SRBY.

Table 4.3 Motor Rated Speed

(Valid for CACR-SRBB and -SRBZ)

Servomotor Rated Speed SL5 SW3-7

1000 r/min

1500 r/min

2000 r/min

3000 r/min

-1

1-2 ON

2-3 ON

2-3 OFF

2-3 ON

Table 4.4 Speed Amplifier Gain (Valid for CACR-SRBB and -SRBZ)

SW3 Specifications Factory Settings

S-series

0.5 kW or less, and

3.0 kW

Pin No. Functions OFF ON

M-series

F-series

S-series

1 kW and

1.5 kW

1 Proportional gain 100 kΩ Valid Invalid ON OFF OFF OFF

2 Proportional gain 220 kΩ Valid Invalid OFF ON ON OFF

3 Imperfect integration 6.6 MΩ Valid Invalid OFF OFF OFF OFF

4 Integration 0.033 uF Invalid Valid ON OFF ON ON

5 Integration 0.033 uF Invalid Valid OFF OFF OFF OFF

6 Integration 0.22 uF Invalid Valid OFF ON OFF OFF

7 For servomotor rated speed ON ON ON OFF

8 Mode selection switch Valid Invalid OFF OFF OFF OFF

D-series

4-6

Table 4.5 Torque Filter Switching

(Valid for CACR-SRBB and -SRBZ)

4.2 Factory Settings

SL7 Specifications

Connection Selected Capacitor

Short-circuited between 1-2

Short-circuited between 2-3

Open 1000 pF

3200 pF

2000 pF Factory setting

Factory Setting

The PG pulse outputs from the SERVOPACK can be set using SW2 pins 1 through 8.

Caution: The maximum number of output pulses that can be set is the number of encoder pulses.

Table 4.6 SW2: No. of Dividing Output Pulses

Settings for Re-engineered AC SERVOPACKs CACR-SRBF

12345678

OFF OFF OFF OFF OFF OFF OFF OFF 8192

ON OFF OFF OFF OFF OFF OFF OFF 8000

OFF ON OFF OFF OFF OFF OFF OFF 6000

ON ON OFF OFF OFF OFF OFF OFF 5000

OFF OFF ON OFF OFF OFF OFF OFF 4096

ON OFF ON OFF OFF OFF OFF OFF 4000

OFF ON ON OFF OFF OFF OFF OFF 3000

ON ON ON OFF OFF OFF OFF OFF 2500

OFF OFF OFF ON OFF OFF OFF OFF 2400

ON OFF OFF ON OFF OFF OFF OFF 2048

OFF ON OFF ON OFF OFF OFF OFF 2000

ON ON OFF ON OFF OFF OFF OFF 1600

OFF OFF ON ON OFF OFF OFF OFF 1500

ON OFF ON ON OFF OFF OFF OFF 1250

OFF ON ON ON OFF OFF OFF OFF 1024

ON ON ON ON OFF OFF OFF OFF 1000

OFF OFF OFF OFF ON OFF OFF OFF 800

ON OFF OFF OFF ON OFF OFF OFF 750

OFFONOFFOFFONOFFOFFOFF 625

ON ON OFF OFF ON OFF OFF OFF 600

OFF OFF ON OFF ON OFF OFF OFF 512

ON OFF ON OFF ON OFF OFF OFF 500

OFF ON ON OFF ON OFF OFF OFF 480

ON ON ON OFF ON OFF OFF OFF 400

OFF OFF OFF ON ON OFF OFF OFF 375

ON OFF OFF ON ON OFF OFF OFF 300

OFF ON OFF ON ON OFF OFF OFF 256

ON ON OFF ON ON OFF OFF OFF 250

OFF OFF ON ON ON OFF OFF OFF 240

ON OFF ON ON ON OFF OFF OFF 200

OFFONONONONOFFOFFOFF 160

ON ON ON ON ON OFF OFF OFF 150

OFF OFF OFF OFF OFF ON OFF OFF 128

ON OFF OFF OFF OFF ON OFF OFF 125

OFF ON OFF OFF OFF ON OFF OFF 120

ON ON OFF OFF OFF ON OFF OFF 100

OFF OFF ON OFF OFF ON OFF OFF 80

ON OFF ON OFF OFF ON OFF OFF 64

OFF ON ON OFF OFF ON OFF OFF 60

No. of Dividing

Output Pulses

4-7

4 Settings and Display

4.2.1 Pin Settings

Settings for Re-engineered AC SERVOPACKs CACR-SRBF (cont’d)

Table 4.6 SW2: No. of Dividing Output Pulses

12345678

ON ON ON OFF OFF ON OFF OFF 50

OFF OFF OFF ON OFF ON OFF OFF 40

ON OFF OFF ON OFF ON OFF OFF 32

OFF ON OFF ON OFF ON OFF OFF 30

ON ON OFF ON OFF ON OFF OFF 25

OFF OFF ON ON OFF ON OFF OFF 20

ON OFF ON ON OFF ON OFF OFF 16

OFFONONONOFFONOFFOFF 1200

ON ON ON ON OFF ON OFF OFF 1440

OFF OFF OFF OFF ON ON OFF OFF 360

ON OFF OFF OFF ON ON OFF OFF 720

OFF ON OFF OFF ON ON OFF OFF 2880

ON ON OFF OFF ON ON OFF OFF 6000

OFF OFF ON OFF ON ON OFF OFF 6000

ON OFF ON OFF ON ON OFF OFF 6000

OFF ON ON OFF ON ON OFF OFF 6000

ON ON ON OFF ON ON OFF OFF 6000

OFFOFFOFFONONONOFFOFF 6000

ON OFF OFF ON ON ON OFF OFF 6000

OFF ON OFF ON ON ON OFF OFF 10000

ON ON OFF ON ON ON OFF OFF 12500

OFF OFF ON ON ON ON OFF OFF 15000

ON OFF ON ON ON ON OFF OFF 20000

OFF ON ON ON ON ON OFF OFF 25000

ON ON ON ON ON ON OFF OFF 30000

−−−−−−−ON Pn212

No. of Dividing

Output Pulses

4-8

4.2 Factory Settings

Settings for Conventional SERVOPACK SRBB with Incremental Encoder for Reference

Check the number of dividing output pulses on the SRBB in the following table.

(A)

(B)

(D)

(C)

1234567

{{{{{{{ 1/1 6000 5000 4000 2500 1500 1000

{{{{{{ 1/2 3000 2500 2000 1250 750 500

{ {{{{{ 1/3 2000 −−−500 −

{{{{{ 1/4 1500 1250 1000 625 375 250

{{ {{{{ 1/5 1200 1000 800 500 300 200

{{{{{1/6 1000 −−−250 −

{{{{ 1/8 750 625 500 −−125

{{ {{{ 1/10 600 500 400 250 150 100

{{{{1/12 500 −−−125 −

{{{{1/15 400 −−−100 −

{{{ 1/16 375 − 250 −−−

{{ {{ 1/20 300 250 200 125 75 50

{{{1/24 250 −−−−−

{{{ {{ 1/25 240 200 160 100 60 40

{{{1/30 200 −−−50 -

{{ { 1/40 150 125 100 −−25

{{1/48 125 −−−−−

{{{ { 1/50 120 100 80 50 30 20

{{1/60 100 −−−25 −

{{{{{ 2/2 6000 5000 4000 2500 1500 1000

{{{{{ 2/3 4000 −−−1000 −

{{{{ 2/4 3000 2500 2000 1250 750 500

{{ {{{ 2/5 2400 2000 1600 1000 600 400

{{{{ 2/6 2000 −−−500 −

{{{ 2/8 1500 1250 1000 625 − 250

{{ {{ 2/10 1200 1000 800 500 300 200

{{{ 2/12 1000 −−−250 −

{{{2/15 800 −−−200 −

{{ 2/16 750 − 500 −−125

{{ { 2/20 600 500 400 250 150 100

{{ 2/24 500 −−−125 −

{{{ { 2/25 480 400 320 200 120 80

{{2/30 400 −−−100 −

{{ 2/40 300 250 200 125 75 50

{ 2/48 250 −−−−−

{{{ 2/50 240 200 160 100 60 40

{ 2/60 200 −−−50 −

Note: The pin SW2-8 is reserved. The pins marked with { are short-circuited.

Dividing

Ratio

6000

5000

4000

2500

(E)

1500

(F)

1000

4-9

4 Settings and Display

4.2.1 Pin Settings

Settings for Conventional SERVOPACK SRBZ with Absolute Encoder for Reference

Check the number of dividing output pulses on the SRBZ in the following table.

123456

(s)

8192

123456

{{{{{{6000 {{{{{ 60

{{{{{5000 {{{{ 50

{ {{{{4000 { {{{ 40

{{{{3000 {{{ 30

{{ {{{2500 {{ {{ 25

{ {{{2400 {{{ 20

{ {{{2000 {{{8192

{{{1600 {{ 4096

{{{ {{1500 {{{ { 2048

{{ {{1250 {{ { 1024

{{{{1200 {{{ 512

{{{1000 {{ 256

{{ {{ 800 {{ { 128

{{{750 {{64

{{{625 {{3600

{{ 600 { 2160

{{{{ { 500 {{{{ 1800

{{{ { 480 {{{ 1440

{{{{400 {{{ 1080

{{ { 375 {{ 720

{{ { { 320 {{ { 360

{{{300 {{ 180

{{{250 {{ 90

{{240 { 45

{{{ { 200 {{{ (15)

{{ { 160 {{ (12)

{{ {150 {{ (9)

{{125 { (8)

{{ { 120 {{ (5)

{{100 { (4)

{{80 { (3)

{ 75 (2)

Note: The pins SW2-7 and -8 are reserved. The pins marked with { are short-circuited.

(s)

8192

4-10

4.2.2 List of Parameters

Parameter

No.

Pn000

Pn001

Pn002

Pn100

Pn101

Pn102

Pn107

Pn108

Pn109

Pn10B

Pn10C

Pn10D

Pn10E

Pn10F

Pn200

Pn209

Pn20E

Pn210

Pn212

Pn300

Pn304

Pn305

Pn306

Pn30A

Pn400

Pn401

Pn402

Pn403

Pn406

Pn407

Pn408

Pn415

Function Selection Basic Switch 0

Function Selection Application Switch 1

Function Selection Application Switch 2

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Bias

Bias Addition Width

Feed Forward Gain

Gain-related Application Switch

Mode Switch (torque reference)

Mode Switch (speed reference)

Mode Switch (acceleration)

Mode Switch (position error pulse)

Position Control Reference Form Selection Switch

Position Reference Acceleration/ Deceleration Bias

Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

PG Dividing Pulse (pulse unit) Enabled when SW2-8 is ON

Speed Reference Input Gain

JOG Speed

Soft Start Acceleration Time

Soft Start Deceleration Time

Auxiliary Speed Reference Input Gain

Torque Reference Input Gain

1st Step 1st Torque Reference Filter Time Constant

Forward Torque Limit

Reverse Torque Limit

Emergency Stop Torque

Speed Limit during Toque Control

Torque Related Function Switch

External Current Limit Input Gain

Name Setting Range Unit

− 0 After restart −

1.0 to 2000.0 Hz 0.1 Hz 40.0 Hz Immediately Cn-04

0.15 to 512.00 ms 0.01 ms 20.00 ms Immediately Cn-05

1.0 to 2000.0/s 0.1/s 40.0/s Immediately −

0 to 450 min

0 to 250 reference units

-1

1 min

Reference

unit

0 to 100 % 1% 0 % Immediately −

− − 0 Immediately −

0 to 800 % 1% 200% Immediately Cn-0C

0 to 10000 min

-1

1 min

0 to 30000 r/min/s 1 r/min/s 0 r/min/s Immediately Cn-0E

0 to 10000 reference

units

Reference

unit

− 0 After restart −

0 to 65535 reference

units/s

1 to 1073741824 (230)

16 to 1073741824 (2

P/Rev

1.50 to 10.00 V/ rated speed

0 to 10000 min

-1

)

reference

unit/s

− 4 After restart −

− 1 After restart −

1 P/Rev 2048 P/Rev After restart Cn-0A

0.01 V/

rated speed

1 min

0 to 10000 ms 1 ms 0 ms Immediately Cn-07

0 to 10000 ms 1 ms 0 ms Immediately Cn-23

1.50 to 10.00 V/ rated speed

1.0 to 10.0 V/ rated torque

0.01 V/

rated speed

0.1 V/ rated torque

0.00 to 655.35 ms 0.01 ms 1.00 ms Immediately Cn-17

0 to 800 % 1 % 800 % Immediately Cn-08

0 to 800 % 1 % 800 % Immediately Cn-09

0 to 800 % 1 % 800 % Immediately Cn-06

0 to 10000 min

-1

1 min

− − 0 After restart −

1.0 to 10.0V/ rated torque

0.1V/ rated torque

Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.

Contact Yaskawa service division when changing the settings of these parameters.

-1

Factory

Setting

0 min

7 reference

units

0 min

0 reference

unit

0 Immediately −

6.00 V/

rated speed

500 min

10.00 V/

rated speed

3.0 V/ rated torque

10000 min

3.0V/ rated torque

4.2 Factory Settings

Setting

Validation

-1

Immediately −

-1

Immediately Cn-0D

Immediately −

-1

Immediately Cn-10

Immediately Cn-03

Immediately Cn-13

Immediately Cn-14

Immediately −

Conventional

Model

SRBE/BY

Constant No.

4-11

4 Settings and Display

4.2.2 List of Parameters

Parameter

No.

Pn501

Pn502

Pn503

Pn506

Pn507

Pn508

Pn509

Pn50A

Pn50B

Pn50C

Pn50D

Pn50E

Pn50F

Pn510

Pn512

Pn520

Pn522

Name Setting Range Unit

Zero Clamp Level

Zero Speed Level

Speed Coincidence Signal Output Width

Brake Reference - Servo OFF Delay Time

Brake Reference Output Speed Level

Waiting Time for Brake Signal When Motor Running

Instantaneous Power Cut Hold Time

Input Signal Selection 1

Input Signal Selection 2

Input Signal Selection 3

Input Signal Selection 4

Output Signal Selection 1

Output Signal Selection 2

Output Signal Selection 3

Output Signal Reversal Setting

Excessive Position Error Alarm Level

Positioning Completed Width

0 to 10000 min

1 to 10000 min

0 to 100 min

(0 to 50)

0 to 10000 min

-1

× 10 ms

-1

(10 to 100) × 10 ms

1 min

10 ms 0 ms Immediately Cn-12

1 min

10 ms 500 ms Immediately Cn-16

20 to 1000 ms 1 ms 20 ms Immediately −

− − 2100 After restart −

− − 6543 After restart −

− − 8888 After restart −

− − 3211 After restart −

− − 0 After restart −

1 to 1073741824 (230)

reference units

0 to 1073741824 (230)

reference units

1 reference

unit

1 reference

unit

-1

Factory

Setting

10 min

20 min

10 min

100 min

262144

reference

units

7 reference

units

Note: The parameters in shaded area have been set according to the SERVOPACK model before shipment.

Contact Yaskawa service division when changing the settings of these parameters.

Setting

Validation

-1

Immediately Cn-0F

-1

Immediately Cn-0B

-1

Immediately −

-1

Immediately Cn-15

Immediately −

(cont’d)

Conventional

Model

SRBE/BY

Constant No.

4-12

Maintenance, Inspection and Alarm/Warning

Display

5.1 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3

5.3 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6

5.4 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5.4.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7

5-1

5 Maintenance, Inspection and Alarm/Warning Display

5.1 Status Display

The 7-segment LED (DS1) on the re-engineered AC SERVOPACK indicates the SERVOPACK status.

• When no alarm occurs, the bits are lit as shown in the table below.

Item Bit Data Indication

Control Power ON Lights when the control power to the SERVOPACK turns ON.

Baseblock

Rotation Detection (/TGON)

Bit Data Indication

Lights when baseblocked (the servo turns OFF.) Goes out when the servo turns ON.

Lights when the motor speed is higher than the value specified in Pn502.

-1

(Factory setting: 20 min

)

• When an alarm occurs, the corresponding alarm code is displayed and blinks digit by digit for 250 msec.

5-2

5.2 Alarm Display Table

The re-engineered SERVOPACK model CACR-SRBF has the same alarm function as that of Σ-III series SERVOPACK.

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.

• DB stop: Stops the servomotor immediately using the dynamic brake.

• Zero-speed stop: Stops the servomotor by setting the speed reference to “0.”

Alarm

Display

A.020

A.021

A.022

A.023

A.030

A.031

A.040

A.041

A.042

A.050

A.051

A.0b0

A.100

A.300

A.320

A.330

A.400

A.410

Alarm Name Meaning

Parameter Checksum Error

The data of the parameter in the SERVOPACK is incorrect.

Parameter Format Error The data of the parameter in the

SERVOPACK is incorrect.

System Checksum Error The data of the parameter in the

SERVOPACK is incorrect.

Parameter Password Error The data of the parameter in the

SERVOPACK is incorrect.

Main Circuit Detector Error

Main Circuit (Power

Detection data for power circuit is incorrect.

The switch S2 is set incorrectly

Pack) Alarm

Parameter Setting Error The parameter setting is outside the

allowable setting range.

Dividing Pulse Output Setting Error

The PG dividing pulse setting (Pn212) is outside the allowable setting range or not satisfies the setting conditions.

This alarm may occur when usingSRBF1E or SRBF1Y.

Parameter Combination Error

Combination of some parameters exceeds the setting range.

Combination Error SERVOPACK and servomotor capac-

ities do not match each other.

Unsupported Product Alarm

Servo ON reference Invalid Alarm

The serial converter unit unsupported was connected.

The Host controller reference was sent to turn the Servo ON after the Servo ON function was used with the Digital Operator or SigmaWin+.

Overcurrent or Heat Sink Overheated

An overcurrent flowed through the IGBT.

Heat sink of SERVOPACK was overheated.

Regeneration Error Detected

Regenerative circuit or regenerative resistor is faulty.

Regenerative Overload Regenerative energy exceeds regen-

erative resistor capacity.

Main Circuit Power Supply Wiring Error

The power supply to the main circuit does not match the parameter Pn001 setting.

Overvoltage Main circuit DC voltage is exces-

sively high.

Undervoltage Main circuit DC voltage is exces-

sively low.

Table 5.1 Alarm Display Table

Servomo-

tor Stop

Method

DB stop N/A

DB stop Available

DB stop N/A

DB stop Available

DB stop N/A

DB stop Available

DB stop N/A

DB stop Available

Zero speed

stop

DB stop Available

Zero speed

stop

Alarm Reset

Available

5.2 Alarm Display Table

Alarm Code Output Servo

ALO1 ALO2 ALO3

HHH H

LHHH

LLHH

HHL H

Alarm (ALM)

Output

5-3

5 Maintenance, Inspection and Alarm/Warning Display

Table 5.1 Alarm Display Table (cont’d)

Alarm

Display

A.510

Alarm Name Meaning

Overspeed The servomotor speed is excessively

high.

A.511

Dividing Pulse Output Overspeed

The motor speed upper limit of the set PG dividing pulse (Pn212) is exceeded.

A.520

Vibration Alarm Vibration at the motor speed was

detected.

A.521

Autotuning Alarm The moment of inertia ratio calcula-

tion error occurred.

A.710

Overload: High Load The motor was operating for several

seconds to several tens of seconds under a torque largely exceeding ratings.

A.720

Overload: Low Load The motor was operating continu-

ously under a torque largely exceeding ratings.

A.730

Dynamic Brake Overload When the dynamic brake was

applied, rotational energy exceeded the capacity of dynamic brake resistor.

A.740

A.7A0

Overload of Surge Current Limit Resistor

Heat Sink Overheated The heat sink of SERVOPACK over-

The main circuit power was frequently turned ON and OFF.

heated.

A.810

Encoder Backup Error All the power supplies for the abso-

lute encoder have failed and position data was cleared.

A.820

Encoder Checksum Error The checksum results of encoder

memory is incorrect.

A.830

A.840 A.850

Absolute Encoder Battery Error

Encoder Data Error Data in the encoder is incorrect.

Encoder Overspeed The encoder was rotating at high

Battery voltage for the absolute encoder has dropped.

speed when the power was turned ON.

A.860

Encoder Overheated The internal temperature of encoder

is too high.

A.b10

A.b11

A.b20

A.b31 A.b32 A.b33

Reference Speed Input Read Error

Speed Reference A/D Data Error

Reference Torque Input Read Error

Current Detection Error1 Phase-U current sensor is faulty.

Current Detection Error 2 Phase-V current sensor is faulty.

Current Detection Error 3 Phase-W current sensor is faulty.

The A/D converter for reference speed input is faulty.

A/D conversion data of speed reference is incorrect.

The A/D converter for reference torque input is faulty.

Servomo-

tor Stop Method

DB stop Available

Zero speed

stop

DB stop Available

Zero speed

stop

DB stop N/A

DB stop Available

DB stop N/A

Zero speed

stop

Zero speed

stop

Zero speed

stop

DB stop N/A

Alarm Reset

Available

Alarm Code Output Servo

ALO1 ALO2 ALO3

LHL H

LLLH

HHH H

Alarm

(ALM)

Output

5-4

Alarm

Display

A.bF0

A.bF1

A.bF2

A.bF3

A.bF4

A.C10 A.C80

A.C90

A.C91

A.C92

A.CA0 A.Cb0

A.CC0

A.d00

A.d01

A.d02

A.F10

A.F20

CPF00 CPF01

A.− −

Table 5.1 Alarm Display Table (cont’d)

Alarm Name Meaning

System Alarm 0 (Internal program

“Internal program error 0” of SERVOPACK occurred.

processing error)

System Alarm 1 (Internal program error)

System Alarm 2 (Current control

“Internal program error 1” of SERVOPACK occurred.

“Internal program error 2” of SERVOPACK occurred.

processing program error)

System Alarm 3 (Encoder interface

“Internal program error 3” of SERVOPACK occurred.

processing error)

System Alarm 4 (CPU watchdog timer

“Internal program error 4) of SERVOPACK occurred.

error)

Servo Overrun Detected The servomotor ran out of control.

Absolute Encoder Clear Error and Multi-turn Limit Setting Error

Encoder Communications Error

The multi-turn for the absolute encoder was not properly cleared or set.

Communications between SERVOPACK and encoder is not possible.

Encoder Communications Position Data Error

Encoder Communications Timer Error

An encoder position data calculation error occurred.

An error occurs in the communications timer between the encoder and the SERVOPACK.

Encoder Parameter Error Encoder parameters are faulty.

Encoder Echoback Error Contents of communications with

encoder is incorrect.

Multi-turn Limit Disagreement

Position Error Pulse Overflow

Position Error Pulse Overflow Alarm at Servo ON

Position Error Pulse Overflow Alarm by Speed Limit at Servo ON

Different multi-turn limits have been set in the encoder and SERVOPACK.

Position error pulse exceeded parameter (Pn520).

When the servo turns ON, the position error pulses exceeded the parameter setting (Pn526).

If the servo turns ON with position error pulses accumulated, the speed is limited by Pn529. In this state, the reference pulse was input without resetting the speed limit, and the position error pulses exceeds the value set for the parameter Pn520.

Power Line Open Phase One phase is not connected in the

main power supply.

AC Overvoltage Alarm A voltage higher than 200 VAC is

supplied

Digital Operator Transmission Error

Digital operator (JUSP-OP05A) fails to communicate with SERVOPACK (e.g., CPU error).

Not an error Normal operation status

5.2 Alarm Display Table

Servomo-

tor Stop

Method

DB stop N/A

DB stop Available

DB stop N/A

DB stop Available

Zero speed

stop

Zero speed

stop

DB stop N/A

− N/A

−−HHH L

Alarm Reset

Available

Alarm Code Output Servo

ALO1 ALO2 ALO3

HHH H

LHL H

LLHH

HLHH

Not decided

Alarm (ALM)

Output

5-5

5 Maintenance, Inspection and Alarm/Warning Display

5.3 Warning Displays

The relation between warning displays and warning code outputs are shown in table 5.2.

Table 5.2 Warning Displays and Outputs

Warning

Display

A.910

A.911

A.920

A.930

A.941

Warning Name Meaning

Overload This warning occurs before the overload alarms (A.710 or

A.720) occur. If the warning is ignored and operation continues, an overload alarm may occur.

Vibration Abnormal vibration at the motor speed was detected. The

detection level is the same as A.520. Set whether to output an alarm or warning by “Vibration Detection Switch” of Pn310.

Regenerative Overload This warning occurs before the regenerative overload

alarm (A.320) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.

Absolute Encoder Battery Vo l ta ge Lo w er ed

Change of Parameters Requires Setting Validation

This warning occurs when the absolute encoder battery voltage is lowered.

The change of the parameters can be validated only after turning the power ON from OFF.

Warning Code Output

ALO1 ALO2 ALO3

LHH

HLH

LLH

LHH

5-6

5.4 Inspection and Maintenance

5.4.1 Servomotor Inspection

The AC servomotors are brushless. Simple daily inspection is sufficient. The inspection and maintenance frequencies in the table are only guidelines. Increase or decrease the frequency to suit the operating conditions and environment.

5.4 Inspection and Maintenance

IMPORTANT

Vibration and Noise Daily Touch and listen. Levels higher than normal?

Exterior

Insulation Resistance Measurement

Replacing Oil Seal

Overhaul

* Measure across the servomotor’s FG and the phase-U, phase-V, or phase-W power line.

During inspection and maintenance, do not disassemble the servomotor.

Item Frequency Procedure Comments

According to degree of contamination

At least once a year

At least once every 5000 hours

At least once every 20000 hours or 5 years

5.4.2 SERVOPACK Inspection

Item Frequency Procedure Comments

Exterior and Boards

At least once a year

Loose Screws

Clean with cloth or compressed air. −

Disconnect SERVOPACK and test insulation resistance

at 500 V. Must exceed 10 MΩ .

Remove the servomotor and replace the oil seal.

Contact the Yaskawa service division.

Check for dust, dirt, and oil on the surfaces. Clean with compressed air.

Check for discoloration, damage, and disconnected wires on the surfaces.

Check for loose terminal block and connector screws.

Contact the Yaskawa service division if the insulation resis-

∗

tance is below 10 MΩ.

Applies only to servomotors with oil seals.

Do not disassemble and clean the servomotor by yourself.

Contact the Yaskawa service division.

Tighten any loose screws.

5.4.3 SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

The parameters of any SERVOPACKs overhauled by Yaskawa service division are reset to the factory settings before shipping. Be sure to confirm that the parameters are properly set before starting operation.

Standard

Part

Cooling Fan

Smoothing Capacitor

Relays

Fuses

Aluminum Electrolytic Capacitor on Circuit Board

Replacement

Period

4 to 5 years

7 to 8 years

−

10 years

5 years

Recommendations Operating Conditions

Replace with a new SERVOPACK.

Replace with a new SERVOPACK. (Depending on results of investigation.)

Replace with a new SERVOPACK.

(Depending on results of investigation.)

Replace with a new SERVOPACK.

(Depending on results of investigation.)

• Ambient Temperature: Annual average of 30°C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

5-7

Applications and Inquiries

YASKAWA ENGINEERING Global Office

<Japan>

YASKAWA ENGINEERING CORPORATION

480 Kamifujisawa, Iruma, Saitama 358-0013, Japan Phone +81-4-2966-1862 Fax +81-4-2966-2766 http://www.yaskawa-eng.co.jp

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, USA Phone +1-874-887-7000 Phone +1-800-YASKAWA(1-800-927-5292) from U.S.A. and Canada Fax +1-874-887-7440 http://www.yaskawa.com

Yaskawa Electrico do Brasil Ltda.

Av. Fagundes Filho, 620-Saude

Sao Paulo, SP 04304-000, Brasil Phone +55-11-5071-2552 Fax +55-11-5581-8795 http://www.yaskawa.com.br

YASKAWA ENGINEERING EUROPE GmbH

Am kronberger Hang 2, 65824 Schwalbach, Germany Phone +49-6196-569-520 Fax +49-6196-888-598 http://www.yaskawa.de

<Asia>

YASKAWA ENGINEERING ASIA-PACIFIC PTE. LTD.

151 Lorong Chuan, #04-01B, New Tech Park, Singapore 556741, SINGAPORE Phone +65-6282-1601 Fax +65-6382-3668 http://www.yaskawa.com.sg

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area Shanghai 200131, P.R. China Phone +86-21-5385-2200 Fax +86-21-5385-3299

YASKAWA ENGINEERING KOREA CORPORATION

KFPA Bldg. #1201, 35-4, Youido-Dong Yeongdungpo-Ku, Seoul 150-010, Korea Phone +82-2-3775-0337 Fax +82-2-784-8495 http://www.yaskawa.co.kr

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E.Rd., Sec. 3, Taipei, Taiwan Phone +886-2-2502-5003 Fax +886-2-2505-1280

YASKAWA ELECTRIC (THAILAND) CO., LTD.

252/101 20th floor, Muang Thai-phatra Office Tower 2, Rachadaphisek Road, Huaykwang, Bangkok 10320, THAILAND Phone +662-693-2200 Fax +662-693-2204

YASKAWA ELECTRIC ENGINEERING CORPORATION

YASKAWA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

MANUAL NO. KG22E

Printed in Japan October 2004 04-10

Yaskawa CACR-SRxxBF User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this manual

Safety Information

Notes for Safe Operation

CONTENTS

Outline

1.1 Outline

1.2 Features

1.2.2 Updated with the Latest Technologies

1.2.3 Wide Range of Applicable Servomotors

1.3 Applicable Servomotors and Encoders

1.4 SERVOPACK Part Names

Specifications and Dimensional Drawings

2.1 Ratings and Specifications

2.2 SERVOPACK Model Designations

2.3 Re-engineered AC SERVOPACK Selection

2.4 Dimensional Drawings

2.4.2 Re-engineered AC SERVOPACK Models for CACR-SR60BB, 60BZ, 60BE, and 60BY

Wiring

3.1.1 Connection Diagram

3.1.2 Names and Description of Main Circuit Terminals

3.1.3 Connector Receptacle Specifications

3.1.4 CN1 I/O Signal Connector Terminal Layout

3.1.5 CN2 Optical Encoder (PG) Connector Terminal Layout

3.2 I/O Signal Connector Terminals

Settings and Display

4.1 Setting Switches

4.1.1 Setting Fixed Switches (User’s Modification Prohibited)

4.1.2 Switches To Be Set According to Application

4.1.3 Potentiometers VR and RH

4.1.4 Alarm Reset Button

4.1.5 LED Display

4.1.6 Monitoring Pins

4.1.7 Digital Operator Connector

4.2 Factory Settings

4.2.1 Pin Settings

4.2.2 List of Parameters

5.1 Status Display

5.2 Alarm Display Table

5.3 Warning Displays

5.4 Inspection and Maintenance

5.4.1 Servomotor Inspection

5.4.2 SERVOPACK Inspection

5.4.3 SERVOPACK’s Parts Replacement Schedule