1. General Description

2. Basic Information

• Model: JANCD-MRY02 (also written JANCD-MRYO2)

• Manufacturer: Yaskawa Electric (Motoman)

• Type: Servo motion control board with relay outputs

• Applicable system: Motoman XRC robot controller (main), also compatible with some MRC setups

• Status: Discontinued (EOL)

• Revision: Commonly REV.A01

• Weight: approx. 1.3 kg

• Dimensions: 300 × 240 × 60 mm (L×W×H)

3. Technical Specifications

• Power supply: Backplane 5 VDC / 24 VDC

• Controlled axes: 6 servo axes (position/speed/torque control)

• Relay outputs: Multiple, higher density than MRY01B1

• Rated voltage: 230 V

• Max current: 12.0 A

• Power rating: 2.2 kW

• Operating temperature: 0 °C to +40 °C

• Humidity: 5%–80% RH, non‑condensing

• Max altitude: 1,000 m (no derating)

4. Key Functions

• 6‑axis servo control: Closed‑loop position, speed, torque control

• Encoder interface: Incremental and absolute encoder signal processing

• Relay output bank: Controls brakes, pneumatic valves, grippers, and other 24 VDC / 120/230 VAC loads

• Multi‑axis synchronization: Coordinates complex robot trajectories

• System interconnect: Works with JANCD‑MCP01/MCP02 main CPU boards in XRC racks

5. Compatibility

• ✅ Fully compatible: Motoman XRC series (primary target)

• ✅ Compatible: Motoman MRC controllers (some configurations)

• ❌ Not compatible: DX, FS, YRC series; JANCD‑Yxx boards; non‑Yaskawa systems

6. Differences vs. JANCD‑MRY01B1

• MRY02: Larger size (30×24×6 cm), heavier (1.3 kg), higher relay density, 230 V / 12 A / 2.2 kW rating

• MRY01B1: Smaller (25×14×3 cm), lighter (~0.9 kg), standard relay count, lower power rating

• Both: 6‑axis servo, same XRC/MRC core architecture

7. Installation & Safety

• Power off controller before insertion/removal; no hot‑swap

• Use ESD wristband to prevent static damage

• Align edge connector, seat firmly, tighten screws

• Operate in clean, dry, low‑vibration environment

• Only qualified technicians should service or repair