YASKAWA AC Servo Drive HR Series (CACR-HR) Multi functional/Positioning Control

Grounding requirements:

Driver FG terminal → grounding electrode (Class 3 grounding, resistance ≤ 100 Ω);

Motor frame ground → driver FG terminal to avoid common ground interference.

Noise control:

Install a noise filter on the power side (such as HR03BAB with LF-205A);

The distance between power lines and signal lines should be ≥ 30cm, and wiring in the same conduit is prohibited.

Functional operations (I/O, communication, parameters)

1. I/O signal operation

Input signal timing: SVON, AST and other signals need to maintain a stable level of ≥ 5ms to avoid false triggering;

Output signal status:

POS1 (positioning completed): ON when the deviation between the current position and the target position is ≤ P6 (positioning completed width, 1-250 units);

NEAR (positioning proximity): ON when the deviation is ≤ P45 (positioning proximity width, 0-3000 units).

2. Serial communication (RS422)

Communication specifications:

Baud rate: 9600/4800/2400/1200Baud (default 9600);

Data format: 1 start bit+7 data bits+1 even check bit+1 stop bit.

Core command:

SVON: Servo Enable;

MOV ± nnnnnn: Absolute positioning (± 8-bit position data);

ZRN: Start back to zero;

PRMpp=± nnnnnnnn: Set parameters (pp=parameter number).

Multi axis control: Supports 16 axes and specifies the control object through axis addresses (1-16).

3. Parameter Setting (Example of Core Parameters)

Parameter Number, Parameter Name, Unit Range, Function Description

P1 position loop gain Kp s ⁻¹ 0-200 adjusts position control response speed, the larger the value, the faster the response (prone to oscillation)

P2 speed loop gain Kv × 2.5Hz 1-200 adjustment speed control response speed, matching system rigidity

P4 1st feed rate x 1000 units/minute 1-240000 reference speed in automatic/manual mode

When the deviation of the width unit 1-250 after P6 positioning is ≤ this value, the POS1 signal is ON

P7 motor selection -0-79 matching motor model (e.g. 32=USAREM-A5CS)

P8 encoder pulse P/R (× 4) 4096-32768 encoder pulse per revolution (absolute 8192P/R set to 32768)

Display/Monitoring and Maintenance

1. Display function

LED indicator light:

MAIN (red): residual voltage in the main circuit (slowly extinguishes after power failure);

RUN (green): Control power supply is normal (+5V normal);

ALM (red): Fault alarm (check the 7-segment digital tube code when it lights up).

7-segment digital tube:

Normal state: Display current position (PUN) and speed (NFB);

Fault status: Display code (such as OC=overcurrent, OL=overload, BAT=low battery).

2. Trial operation process

Preparation stage:

Check the wiring (main circuit/control circuit is not loose) and parameters (P7/P8/P9 matching motor and encoder);

Absolute encoder reset: Short circuit the specific pin of the encoder and release it after powering on for ≥ 2 minutes.

Test operation:

Servo Enable: Send SVON command, confirm that RUN light is on and ALM light is off;

Jogging test: Send JOG+1000 command (1000 units/minute) to confirm that the motor rotates smoothly;

Positioning test: Send MOV+10000 command and confirm that POS1 signal is ON after positioning is completed.

3. Maintenance and troubleshooting

Battery replacement: Replace the absolute encoder battery (3.6V) when the voltage is ≤ 3.3V, and replace it after power failure (to avoid data loss).

Common troubleshooting:

|Alarm code | Fault cause | Handling measures|

|OC (overcurrent) | Main circuit overcurrent (≥ 1.2 times peak current) | Check if the motor wiring and load are stuck|

|OL (overload) | Motor overload (exceeding allowable load inertia) | Reduce load inertia and acceleration rate|

|PG (Encoder Disconnected) | Encoder Cable Loose/Disconnected | Check 3CN Wiring and Encoder for Damage|

|BAT (low battery) | Absolute encoder battery voltage low | Replace 3.6V lithium battery (such as CR2450)|

Installation and environmental requirements

Motor installation:

Installation method: Both horizontal and vertical can be used, with axis centering deviation ≤ 0.03mm;

Axial load: The radial/axial load shall not exceed the specifications in Table 3.9 (such as M series 03B model radial 490N).

Driver installation:

Rack mounted (BAB): vertically installed, with a spacing of ≥ 10cm (for heat dissipation);

Base type (BB): vertically installed, avoiding direct sunlight/condensation environment.

Environmental restrictions:

Temperature: driver 0-55 ℃, motor 0-40 ℃;

Humidity: 20% -80% RH (without condensation);

Dust: Do not use in dusty or corrosive gas environments.