1. General Description

2. Basic Information

• Model: JANCD-MSV02

• Alternative Part Numbers: DF9200664-C, C0, D0N

• Manufacturer: Yaskawa Electric (Motoman)

• Type: Servo control daughter board

• Applicable Equipment: Motoman MRC robot controllers

• Matching Main Board: JANCD-MSV01 / MSV01B

• Product Status: Discontinued / EOL

• Approximate Weight: 0.4 kg

• Dimensions: 220 × 110 × 20 mm

3. Technical Specifications

• Power Supply: 5 VDC and ±12 VDC from controller backplane

• Maximum Axes per Board: 6 servo axes

• Communication Bus: MECHATROLINK-II

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

• Relative Humidity: 5% ~ 80% RH, non-condensing

4. Key Functions

• Executes real-time closed-loop control for current, speed and position of servo axes.

• Receives and processes signals from incremental and absolute encoders.

• Transmits control signals to servo amplifiers.

• Detects and reports faults such as over current, over voltage, over temperature and encoder errors.

• Offloads servo-related computing tasks from the main motion CPU for multi-axis expansion.

5. Difference between MSV02 and MSV01 / MSV01B

• MSV01 / MSV01B: Main motion CPU boards, responsible for trajectory planning, kinematics calculation and overall system scheduling.

• MSV02: Slave servo daughter board, only for servo loop control and signal processing. It cannot work independently.

• Working relation: The main CPU sends motion commands, and MSV02 executes servo control to drive servo motors.

• Interchangeability: MSV02 cannot replace MSV01 or MSV01B, it is only used for servo channel expansion.

6. Compatibility

• Fully compatible with all Motoman MRC robot controllers when paired with MSV01 or MSV01B.

• Not compatible with XRC, DX, FS, YRC series and other non-MRC controllers.

• Must be used together with MSV01 or MSV01B, standalone operation is not supported.

7. Installation & Safety Precautions

• Cut off all power before installation or removal. Hot swapping is prohibited.

• Wear a grounded ESD wristband to prevent static damage to electronic components.

• Insert the board into the dedicated slot next to MSV01 / MSV01B and tighten fixing screws.

• Keep the board away from high-voltage power cables to avoid electromagnetic interference.

• All installation and maintenance must be performed by qualified professional technicians.