CACR-SR15BY1SG-Y72 (Yaskawa VS-800, 1.5kW, BY housing, Y72 customized version) 1. Model Disassembly (Difference from -E version) • CACR-SR: VS-800 series SERVOPACK 15： 1.5kW (1500W) rated power • BY： BY housing (not compatible with AD/AY/AZ/BE， size 250×180×120mm) • 1SG： Control firmware (1 = standard， S = pulse position， G = analog speed) • -Y72： Customized version (Japanese-specific IO/parameters， replacing the old -E， compatible with old Yaskawa 1.5kW motor)

II. Core Electrical Parameters (Consistent with -E Version) Table Item Parameter Input Power Three-phase AC 200-230V, 50/60Hz Rated Output Power 1.5kW Rated Output Current 18A Peak Current 54A (≤ 3 seconds) Control Mode Position (Pulse + Direction) / Speed (±10V) Dual Mode Encoder Compatibility Incremental 2500p/rev (5V Line Drive) Cooling Forced Air Cooling (with Fan) Weight Approximately 12kg Environmental 0-40℃, Humidity ≤ 80% (No Condensation) III. -Y72 Customization Points (Different from -E) 1. IO Definition: Japanese standard (NPN type, low level valid), cannot be directly substituted with -E (PNP) 2. Parameter Default: ◦ P00 (Control Mode): 0 = Position (Default) ◦ P02 (Encoder Resolution): 2500p/rev ◦ P07 (Position Loop Gain): 60 (–E is 50) 3. Compatible Motors: Special USAREM-15DE/USAFED-15 Series (Cannot be replaced randomly with other 1.5kW Motors) IV. Terminal Wiring (-Y72 Pin Allocation) Main Circuit (Left Side) • R/S/T: Three-phase AC 200-230V Input • U/V/W: Servo Motor Output • Y3/Y4: Regenerative Braking Resistor (10Ω/200W) • PE: Protection Grounding Control Interface CN1 (50-pin, -Y72 Specific) • DI (Input, NPN): ◦ 1: Servo Enable (SV-ON, Low Valid) ◦ 2: Positive Limit (P-OT) ◦ 3: Negative Limit (N-OT) ◦ 4: Alarm Reset (RESET) ◦ 5: Mode Switching (Position / Speed) • DO (Output, NPN Open Collector): ◦ 20: Servo Ready (RDY) ◦ 21: Position Completion (IN-POS) ◦ 22: Alarm (ALM) ◦ 23: Zero Speed (ZSP) • Analog: ◦ 10: SPD_REF (±10V, Speed Command) ◦ 11: GND • Pulse Command: ◦ 15: PULS (Pulse) ◦ 16: SIGN (Direction) Encoder Interface CN2 (20-pin) • A, /A, B, /B, Z, /Z, 5V, GND V. Panel Operation and Parameters (-Y72 Default Values) • Keys: MODE (Display Switching), UP/DOWN (Parameter Adjustment), SET (Confirmation) • Common Parameters: ◦ P00: Control Mode (0 = Position, 1 = Speed) → 0 ◦ P01: Motor Type → 5 (Compatible with 1.5kW) ◦ P02: Encoder Resolution → 2500 ◦ P03: Electronic Gear Ratio → 1 ◦ P04: Electronic Gear Denominator → 1 ◦ P05: Speed Loop Gain → 120 ◦ P06: Speed Loop Integral Time → 12ms ◦ P07: Position Loop Gain → 60 ◦ P08: Acceleration and Deceleration Time → 60ms VI. Alarm Codes (-Y72 in the Series) • 1: Overcurrent (Short Circuit / Motor Damage) • 2: Overvoltage (Power High / Regenerative Abnormal) • 3: Under-voltage (phase loss / low voltage) • 4: Overheating (poor heat dissipation / fan failure) • 5: Overload (heavy load / stuck) • 6: Encoder anomaly (open circuit / wiring error) • 7: Limit switch triggered • A: Servo not ready • B: Parameter error • F: System failure (hardware damage)  VII. Usage Notes 1. Unique housing: Only compatible with BY housing, incompatible with other series 2. Customization not interchangeable: -Y72 (NPN) is incompatible with -E (PNP) IO, cannot be directly replaced 3. Motor compatibility: Must match the dedicated 1.5kW incremental encoder motor 4. Wiring specification: Power lines and signal lines are separated, encoder uses twisted shielded wire