1. General Information

• Model: JANCD‑YCP02‑E (YCP02‑E)

• Manufacturer: Yaskawa Electric Corporation

• Applicable Controller: Motoman DX200 Robot Controller (not for DX100)

• Function: Conveyor synchronization & ComArc seam tracking option board

• Role: Handles up to 3 conveyor encoders for dynamic robot synchronization; supports ComArc welding seam tracking and external sensor interfacing

• Type: Option board (not a CPU board) – DX200 main CPU is JANCD‑YCP21‑E

2. Specifications

• Processor: High‑performance MCU

• Encoder Inputs: 3 channels (incremental, differential/collector‑open compatible)

• Communication Interfaces:

  • Ethernet 10/100 Mbps

  • RS‑485

  • Dedicated sensor/welding I/F

• Memory: 16 MB RAM, 8 MB Flash ROM

• Power Supply: DC 24 V ±10% (from backplane)

• Power Consumption: Max 15 W

• Operating Temperature: ‑10 °C to +55 °C

• Storage Temperature: ‑20 °C to +70 °C

• Humidity: 30%–85% RH (non‑condensing)

• Dimensions (W×H×D): Approx. 100 × 60 × 35 mm

• Weight: Approx. 0.3 kg

3. On‑Board Connectors & LEDs

Connectors

• CN121: Encoder input (3‑channel combined port)

• CNxxx: Ethernet

• CNxxx: RS‑485

• CNxxx: System bus (to YBB21 backplane)

LED Indicators

• PWR: DC24V power good

• RUN: Board active (flashing = normal)

• ERR: Fault (hardware/config/comm)

• COM: Communication activity

4. Required Boards & Compatibility

Required (DX200 System)

• JANCD‑YCP21‑E: Main CPU board

• JANCD‑YIF01‑2E: Robot I/F board

• JANCD‑YSF21‑E: Safety CPU board

• YBB21: Backplane (DX200)

Compatibility

• ✅ DX200 + YBB21 + YCP21‑E

• ❌ DX100 (uses YCP01 series; no YCP02 slot)

5. Installation Procedure

1. Power OFF: Turn off main power; wait 15 minutes for capacitor discharge.

2. Access Cabinet: Open front door; locate dedicated option slot on YBB21 backplane.

3. Insert Board: Align with guides; push firmly until fully seated (latch clicks).

4. Connect Cables:

   • CN121 → Conveyor encoder(s)

   • Ethernet/RS‑485 → Peripherals (if used)

5. Close Cabinet: Secure door; restore main power.

6. Verify: Check PWR ON + RUN flashing; confirm encoder/sensor communication.

6. Encoder Connection (CN121)

• Signal: Incremental (PA, /PA, PB, /PB, +5V, 0V, Shield)

• Max Count Frequency: 1 MHz

• Cable: Twisted pair, shielded; max length 50 m

7. Troubleshooting

PWR LED OFF

• Check DC24V supply to option slot

• Verify YBB21 backplane power

• Inspect system bus connector

RUN OFF / ERR ON

• Re‑seat board; check for bent pins

• Verify YCP21‑E CPU and YIF01‑2E I/F board

• Check encoder wiring and power

Encoder Sync Failure

• Verify encoder type (incremental) and wiring

• Check CN121 pinout and shield grounding

• Test with known‑good encoder

Communication Fail (Ethernet/RS‑485)

• Check cable/connector integrity

• Verify IP/serial parameters

• Monitor COM LED for activity

8. Maintenance

• 6‑Month Inspection: Connector tightness, dust removal, LED status check

• Cleaning: Use dry, lint‑free cloth; avoid touching gold contacts

• Service Life: 5–8 years; replace if burned, corroded, or unstable

9. Key Differences (YCP01 / YCP21 / YCP02)

• YCP01‑E: DX100 main CPU

• YCP21‑E: DX200 main CPU

• YCP02‑E: DX200 option board (conveyor sync / ComArc tracking)