1. General Information

• Model: JANCD‑YCP21‑E (YCP21‑E)

• Manufacturer: Yaskawa Electric (Japan)

• Applicable Controller: Motoman DX200 (main CPU, not for DX100)

• Function: Main CPU / motion controller – brain of the DX200 robot system

• Role: Executes robot motion control, trajectory planning, logic, I/O, and all system communications

  

2. Key Specifications

• Processor: High‑performance multi‑core CPU (real‑time OS)

• Memory: Flash for system/programs; RAM for real‑time execution

• Power Supply: DC 24 V ±10% (from YBB21 backplane)

• Power Consumption: Approx. 25 W (max)

• Operating Temperature: 0 °C to +55 °C

• Dimensions (W×H×D): ~150 × 100 × 30 mm

• Weight: ~0.7 kg

• Compliance: CE, UL, cUL, CSA

3. On‑Board Connectors (DX200)

• CN103: Serial (RS‑232C)

• CN104: LAN (Ethernet, 10/100 Mbps)

• CN105: Teach pendant (TP)

• CN106: USB 2.0 (data/backup)

• CN107: CF card (program/data storage)

• PCIe Slots: ×2 (for option boards like YCP02)

4. System Compatibility & Required Boards

• Compatible: DX200 + YBB21 backplane

• Mandatory Pairing:

  • YCP21‑E: Main CPU

  • YIF01‑4E: Robot I/F board

  • YSF21‑E: Safety CPU board

• Incompatible: DX100 (uses YCP01‑E series)

5. Core Functions

• Motion Control: Multi‑axis interpolation, high‑speed trajectory planning

• System Management: Real‑time OS, task scheduling, error handling

• Communications: Ethernet (Modbus TCP/IP, OPC UA), RS‑232C, USB

• I/O & Safety: Coordinates with YSF21‑E for safety logic; manages standard I/O

• Program Execution: Runs robot jobs, PLC logic, and application programs

6. Status LEDs (Typical)

• PWR: 24V power OK

• RUN: System active (flashing = normal)

• ERR: System fault (CPU/comm/config error)

• LAN: Ethernet link/activity

7. Installation Notes

1. Power OFF & discharge (15 min) before handling.

2. Insert into CPU slot on YBB21 backplane; seat firmly.

3. Connect TP, LAN, USB/CF cables as needed.

4. Power ON; verify PWR ON + RUN flashing.

8. Troubleshooting

• PWR OFF: Check 24V backplane supply; inspect YBB21.

• RUN OFF / ERR ON: Reseat board; check YIF01/YSF21; verify firmware compatibility.

• No TP Comm: Check CN105 cable/connector; verify TP hardware.

• Ethernet Down: Check CN104 cable; verify IP settings; check LAN LED.

9. Differences: YCP01 vs YCP21 vs YCP02

• YCP01‑E: DX100 main CPU

• YCP21‑E: DX200 main CPU (this board)

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