1. General Information

• Model: JANCD‑SV04B (PCB No.: DF920205‑B0)

• Manufacturer: Yaskawa Electric Corporation (Motoman Robotics Division)

• Product Type: Servo Motion Control Board

• Application: Motoman Robot Controller (YASNAC XRC, ERC Series)

• Function: 4‑axis servo control, encoder feedback processing, motion command generation

2. Specifications

2.1 Electrical Ratings

• Logic Supply: 24 VDC ±10%, 0.5 A

• Encoder Supply: ±5 VDC (differential)

• Power Consumption: ≤12 W

2.2 Environmental

• Operating Temperature: 0°C to +40°C

• Storage Temperature: −10°C to +60°C

• Humidity: 5%–80% RH (non‑condensing)

• Vibration: ≤0.5 G (10–500 Hz)

2.3 Control Performance

• Number of Axes: 4 (independent / synchronous)

• Command Input:

  • Pulse train: up to 500 kHz (line driver)

  • Analog: ±10 V (velocity/torque)

• Encoder Interface:

  • Incremental: A/B/Z phase (differential, ±5 V)

  • Absolute: Multi‑turn serial (Yaskawa protocol)

• Loop Characteristics:

  • Position loop: 1 kHz update

  • Velocity loop: 2 kHz bandwidth

  • Current loop: 16 kHz sampling

3. Connector Pinout

CN1–CN4 (Encoder, Axis 1–4)

CN5 (24 VDC Power)

• Pin 1: +24 VDC

• Pin 2: 0 V (GND)

CN6 (System Bus)

• Communication with CPU board (JANCD‑CP04B)

CN7 (Safety & I/O)

• Emergency stop, servo enable, limit switches, alarm output

4. LED Indicators

• PWR: Power ON (green)

• RUN: Normal operation (green, blinking)

• ALM: Alarm (red, steady)

• ERR: Communication error (red, flashing)

5. Installation & Compatibility

• Mounting: Standard XRC/ERC controller slot

• Compatible Controllers: YASNAC XRC, ERC

• Compatible Motors: Motoman AC servo motors (SGMRV, SGMAV series)

6. Safety Features

• Hardware emergency stop (category 3)

• Overcurrent / overvoltage / overtemperature protection

• Encoder disconnection detection

• Position error excess alarm

7. Ordering Information

• Model: JANCD‑SV04B

• Replacement Part No.: 161543‑1