1. Basic Information

• Model: JANCD-XTU01B (Rev E common)

• Manufacturer: Yaskawa Electric (Motoman Robotics)

• Applicable Controller: XRC1000 / XRC2001 (XRC series only)

• Function: External axis control board (up to 2–3 auxiliary axes)

• Status: Discontinued (Obsolete); only used / refurbished available

• System Match: Works with XCP02B (CPU), XMM01/XMM02 (memory), XSL02 (conveyor tracking)

2. Key Specifications

• Power: 5 VDC (from XRC backplane), ~200 mA

• Operating Temp: 0 °C to +55 °C (non-condensing)

• Humidity: 5%–95% RH, non-condensing

• Communication: RS-232 / RS-485 to servo amplifiers; internal bus to XCP02B

• Axis Control: Up to 3 external servo axes (position / speed / torque)

• Encoder: Supports incremental (A/B/Z) and absolute serial encoders

• Dimensions: ~100×160×20 mm

• Weight: ~150 g

3. Core Functions

• External Axis Control: Drives auxiliary servo motors (positioners, turntables, linear units).

• Synchronization: Coordinates motion with robot for welding, cutting, and handling.

• Closed-Loop Control: Current / speed / position loops for high accuracy.

• I/O Interface: Digital inputs (home, limit) and outputs (enable, alarm) for external devices.

• Safety: Overcurrent, overvoltage, overtemperature protection.

4. Compatibility & Installation

• Only for XRC: Not compatible with DX100 / DX200 / FS100.

• Slot Location: Installs in dedicated XRC cabinet slot, connects to XCP02B via internal bus.

• Wiring: Servo encoder and power cables to external amplifiers; I/O to field sensors.

5. Common Alarms & Issues

• Alarm 4201: External axis communication loss (XTU01B or cable fault).

• Alarm 4202: Overcurrent on external axis (wiring short or amplifier fault).

• No axis movement: 5 VDC power fault or enable signal missing.

• Position drift: Encoder cable damage or XTU01B signal circuit degradation.

6. Maintenance & Replacement

• ESD Protection: Use anti-static wristband.

• Power Off: Disconnect controller power and wait 5 minutes before handling.

• Refurbished Warranty: Typically 3–6 months.