1.1 Overview

1.2 Model Number Definition

• CACR: AC Servo Drive (SERVOPACK)

• SR: Speed/position control, VS‑800 platform

• 15: Rated power 1.5 kW

• S: For Yaskawa S‑series servo motors

• Z: Special hardware (custom I/O/feedback circuits)

• 1: Single‑phase 200 VAC control power

• S: Serial encoder interface (not incremental)

• D: Custom base firmware

• Y77: OEM‑specific parameter set (unique tuning, I/O mapping, and protection thresholds)

1.3 Applicable Motors

• Yaskawa S‑series servo motors with serial encoders (200 VAC, 1.5 kW class).

• Not compatible with incremental‑encoder motors or non‑S‑series motors without hardware/firmware modification.

2. Specifications

2.1 Electrical Ratings

• Main Power: 3‑phase 200–230 VAC ±10%, 50/60 Hz

• Control Power: 1‑phase 200–230 VAC ±10%, 50/60 Hz

• Output Power: 1.5 kW

• Continuous Output Current: 9.9 A

• Peak Output Current: 28 A (30 seconds max)

• Output Frequency: 0–400 Hz

• Encoder Interface: Serial (Yaskawa S‑series protocol)

2.2 Environmental Conditions

• Operating Temperature: 0°C to +55°C

• Storage Temperature: −20°C to +85°C

• Humidity: ≤90% RH (non‑condensing)

• Vibration: 0.5 g (10–60 Hz), 0.2 g (60–200 Hz)

• Altitude: ≤1,000 m (derate 1% per 100 m above 1,000 m)

2.3 Mechanical

• Dimensions (H × W × D): 380 mm × 150 mm × 200 mm

• Weight: 5.5 kg

• Cooling: Forced air (internal fan)

3. Features

• Serial Encoder Support: Higher noise immunity, longer cable length (up to 50 m), and higher resolution than incremental encoders.

• Y77 OEM Pre‑Configuration: Factory‑set parameters for specific machinery (gains, limits, I/O assignments, and protection settings); minimal on‑site tuning required.

• Multi‑Mode Control:

  • Analog speed/torque (±10 VDC)

  • Pulse‑direction position (5 V/24 V pulses)

  • RS‑232C/RS‑485 serial communication (Modbus RTU)

• Built‑In Protection: Overcurrent, overvoltage, undervoltage, overtemperature, encoder failure, overload (150% / 60 s), and regenerative fault.

• Diagnostic LEDs: 7‑segment display for status and alarm codes (e.g., A.31 = overcurrent, A.40 = overtemperature).

4. Installation & Wiring

4.1 Mounting

• Install vertically on a rigid, vibration‑free panel.

• Maintain 50 mm clearance above and below for airflow.

• Do not install in direct sunlight, oily mist, or corrosive gas environments.

4.2 Terminal Block (Main Circuit)

• R, S, T: 3‑phase main power input (200–230 VAC)

• L1, L2: 1‑phase control power input (200–230 VAC)

• U, V, W: Motor output (to S‑series motor)

• P, B: Regenerative resistor connection (optional)

• PE: Protective earth (ground)

4.3 Encoder Wiring

• Connect serial encoder cable to CN2 (9‑pin D‑sub).

• Use shielded cable; ground shield at drive end only.

• Maximum cable length: 50 m (serial).

4.4 Control I/O (CN1, 50‑pin)

• Inputs: Enable, forward/reverse run, reset, emergency stop, position commands

• Outputs: Ready, alarm, brake release, speed reached

• Analog: Speed/torque command (±10 VDC), speed monitor (±10 VDC)

5. Parameter Settings (Y77 Defaults)

5.1 Basic Parameters

• Pn000: Control mode (0 = speed, 1 = position, 2 = torque)

• Pn100: Speed loop gain (Y77 default: 80)

• Pn101: Speed loop integral time (Y77 default: 20 ms)

• Pn200: Position loop gain (Y77 default: 100)

• Pn300: Overload threshold (Y77 default: 150%)

5.2 Communication

• Pn500: Serial address (1–31, default: 1)

• Pn501: Baud rate (9.6 kbps, default: 9600)

• Pn502: Data format (8N1, default)

6. Alarm Codes & Troubleshooting

7. Maintenance

• Daily: Check LED status, fan operation, and unusual noise/vibration.

• Monthly: Clean air filters, tighten terminal screws, inspect cables for damage.

• Annual: Replace fan (if worn), check electrolytic capacitors for bulging/leakage.

8. Compatibility Notes

• Y77 vs. Y21/Y214: Hardware identical; firmware/parameters are not interchangeable without re‑tuning. Y77 is optimized for high‑speed serial‑encoder machines; Y21/Y214 for older CNC/automation lines.

• Replacement: Direct drop‑in for original Y77‑configured VS‑800 drives; verify motor encoder type (serial) before replacement.

9. Disclaimer