OUTLINE [
1
Servopack types CACR-UR_2][2]BABand -HR[2][2]BBare single axis position controller
and servo amplifier for AC Servomotor.
Input method of positioning data (speed, position) can be selected from Table 1.1
by setting parameters. Each input method has four operation modes described in Table
1.2. All servo constants are set by parameters. Therefore, adjustment can be per-
formed properly without dispersion.
This manual describes functions and use of Servopaek types CACR-HR[2][2]BABand
-HR[2][2]_BBand to realize their full performance. Read this manual to customize the
use of this drive and improve performance for the machines.
Table1.1 Input Method
I InputMethod Description
Serial Communication Positioning dataare input by serial commands.
Input Commandscan be sent to 16 Servopacks with one master controller by
connecting with multi-drop method.
Station No. Input Indexing positioning is performed.
Numbers provided to indexing points (station numbers) are input as
I positiondata.
Speed data are selected from four types of speed set in the Servopack
by parameters, by speed selection signals.
Both "one-way rotation" and "short-cut rotation" are possible.
• Range of station numbers
Binary coded decimal(BCD): 0 to 999
Binary: 0 to 4095
Digital Switch(DG-SW) Positioning data are input by contacts from digital switches, relays
I (Thumbwheelswitch) or sequencers,
Input • Range of positioning data
Speed: Up to 6 digits
Position: Sign + up to 8 digits
Note:
According to strobe signal, HRdrive reads DG-SWinput data in time
divisions of 2 digits. Therefore, YASKAWA'sexclusive digital switch
is recommended. When another digital switch or relay is used, use
"contact input unit". When data are directly input from the PLC, it
is necessary to set scan time of HR drive (24 to 2000 ms, variable)
to match sequencer scan time.
CommandTable Input Positioning data are selected from the command table set in the
Servopack by using the positioning data selection signals.
D Positioning data selected in the formof and
are
position
speed
as a pair : Up to 64 patterns can be selected.
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