1. General Information

• Model: JANCD-XCP01

• Manufacturer: Yaskawa Electric（Motoman Robotics）

• Applicable Controller: XRC Series Robot Controller（XRC2001 等）

• Function:

  • Main CPU & system control（66 MHz Motorola XPC105）

  • Robot motion planning & real‑time control

  • Program execution & logic processing

  • System bus management & I/O coordination

  • Data storage & communication hub

• Integrated Sub‑cards:

  • JANCD-XIF03-1：Ethernet interface（TCP/IP）

  • JANCD-XMM01-2：Memory/Storage submodule

2. Specifications

2.1 Core & Memory

• CPU: Motorola XPC105, 66 MHz

• DRAM: 16 MB（system/program）

• SRAM: 1 MB（data/buffers）

• Storage: CompactFlash slot（program/data backup）

• Battery: Lithium battery（for SRAM retention）

2.2 Electrical

• Supply Voltage: 24 VDC ±10%

• Current Draw: 2.5 A（typical）

• Protection: Overcurrent, overvoltage, overheat

2.3 Interfaces

• Ethernet: 10/100 Mbps（TCP/IP, Modbus TCP）

• RS‑232C: 1 port（serial communication）

• CompactFlash: 1 slot（program/data storage）

• System Bus: XRC backplane interface（to XBB01/XBB02）

2.4 Physical & Environmental

• Dimensions: Approx. 220 × 180 × 30 mm

• Weight: Approx. 0.8 kg

• Operating Temp: 0 °C to +55 °C

• Storage Temp: −20 °C to +60 °C

• Humidity: 5%–80% RH（non‑condensing）

• Vibration: ≤ 0.5 G（10–500 Hz）

3. Board Layout & Connectors

• CN1: 24 VDC Power Input

• CN2: System Bus（to backplane XBB01/XBB02）

• CN3: Ethernet Port（RJ45）

• CN4: RS‑232C（DB9）

• CF Slot: CompactFlash（front side）

• Battery Holder: Lithium battery（for SRAM）

4. LED Indicators

• PWR (Green): ON = 24 VDC normal

• RUN (Green): Blinking = CPU running / program executing

• ALM (Red): ON = system fault / error code present

• COM (Yellow): Blinking = Ethernet activity

5. Installation & Replacement

1. Power OFF controller; wait 5 minutes for discharge.

2. Use anti‑static wristband.

3. Locate Slot 0 on backplane（XBB01/XBB02）.

4. Remove old CPU board: Disconnect cables → pull out.

5. Install new board: Align Slot 0 → insert firmly → tighten screws.

6. Reconnect cables（power, Ethernet, RS‑232C）.

7. Power ON: Verify PWR ON, RUN blinking, ALM OFF.

6. Compatibility

• Controller: XRC standard/extended cabinet（XRC2001, XRC1000）

• Backplane: JANCD‑XBB01 / XBB02

• Replacement: XCP01-1 / XCP01C-1 direct replacement（obsolete → replaced by 142154‑3R）

7. Common Faults & Troubleshooting

• ALM ON / No RUN:

  • Check 24 VDC at CN1; verify backplane Slot 0 connection.

  • Re‑seat CPU board; check lithium battery（replace if >3 years）.

• No Ethernet COM:

  • Check cable/port; verify IP settings; re‑seat XIF03 subcard.

• Program Lost:

  • Replace lithium battery; restore from CompactFlash backup.

8. Ordering Information

• Part Number: JANCD-XCP01-1 / JANCD-XCP01C-1

• Replacement: 142154‑3R（latest revision）

• Manufacturer: Yaskawa Electric Corporation

• Warranty: 12 months（new original）

9. Warnings

• For qualified personnel only.

• Disconnect power before servicing; wait for discharge.

• Avoid touching gold‑plated contacts; use anti‑static protection.

• Replace lithium battery every 2–3 years to prevent data loss.