1. General Description

2. Basic Information

• Model: JANCD-MSL02 (also JANCD-MSL02-1, DF9200668-C0)

• Manufacturer: Yaskawa Electric (Motoman)

• Type: Conveyor tracking / analog input board

• Applicable systems: Motoman XRC (primary), MRC robot controllers

• Status: Discontinued (EOL)

• Weight: approx. 1.0 kg

• Dimensions: ~300 × 300 × 50 mm (12"×12"×2")

3. Technical Specifications

• Power supply: 5 VDC / 24 VDC from controller backplane

• Encoder interface: Incremental encoder input (conveyor position/speed)

• Analog inputs: Multi-channel (±10 V / 4–20 mA) for external sensors

• Digital I/O: Home, limit, and gate input signals

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

• Humidity: 5%–80% RH, non-condensing

• Max altitude: 1,000 m (no derating)

4. Key Functions

• Conveyor tracking: Synchronizes robot movement with variable-speed conveyors

• Encoder signal processing: Reads conveyor encoder pulses for real‑time position/speed data

• Analog input acquisition: Processes analog signals from sensors (e.g., speed, tension, temperature)

• Robot–conveyor synchronization: Enables continuous pick‑and‑place, packaging, or assembly on moving lines

• Interlock & safety: Monitors home/limit switches for safe tracking operation

5. Compatibility

• ✅ Fully compatible: Motoman XRC series (standard for conveyor tracking)

• ✅ Compatible: Motoman MRC controllers (selected configurations)

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

6. Variants

• JANCD-MSL02: Standard conveyor tracking board (digital encoder + basic I/O)

• JANCD-MSL02-1: Enhanced version with analog input channels (DF9200668-C0)

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 mounting screws

• Route encoder/analog cables separately from power cables to reduce noise

• Operate in clean, dry, low‑vibration environment

• Only qualified technicians should install or service