Product Technical Specification for DF9200650-C0N (JANCD-MCP01) (Chinese Version)

Manufacturer: Yaskawa Electric Corporation

Product Model: DF9200650-C0N

Board Code: JANCD-MCP01 (REV.D04)

Product Type: Robot Controller CPU / Motion Control Main Board

Applicable Systems: Yaskawa Motoman NX100, DX100, DX200 Robot Controllers

I. Product Overview

DF9200650-C0N (JANCD-MCP01) is the core central processing unit and motion control main board of the Yaskawa Motoman series robot controllers, providing computing center, motion planning, bus management, I/O logic control, and system communication functions for the NX100/DX100/DX200 control systems. The C0N version is a high-stability industrial-grade revision, enhancing electromagnetic compatibility, power protection, and long-term operational reliability, suitable for high-precision automated production lines in automotive manufacturing, metal processing, electronic assembly, etc.

II. Physical Specifications

Board Form: Standard 6U VME industrial-grade PCB card

Dimensions: Approximately 233mm (length) × 160mm (height) × 20mm (thickness)

Weight: Approximately 0.6kg

Interface Configuration:

VME system bus connector (for communication with the controller backplane)

CN3: Teaching pendant interface (connects to the robot handheld programmer)

CN5: Ethernet communication interface (TCP/IP, Profinet, EtherNet/IP)

CN7: RS-232C serial port (for debugging / parameter upload and download)

CF card slot (for system firmware, program, and parameter storage)

Battery holder (for real-time clock and absolute position data retention during power-off)

Status LED indicators (PWR/RUN/ALM/COM)

Structural Process:

8-layer industrial-grade PCB, gold plating process, high signal integrity

Three-proof coating (dust-proof, moisture-proof, oil-proof, corrosion-proof)

Surface mount + through-hole hybrid process, enhanced shock resistance

Wide-temperature components, stable operation from -20°C to +70°C

III. System Compatibility

Applicable Controllers

Motoman NX100 robot controller

Motoman DX100 robot controller

Motoman DX200 robot controller

Compatible Robot Series

MH series (MH6, MH12, MH24, MH50, MH80, MH165)

HP series (HP6, HP20, HP50)

UP series (UP6, UP20, UP50)

MS, SK, YR, ES, VS series industrial robots

Version Correlation

Previous model: DF9200650-C0, DF9200650-B0N

Associated boards: JANCD-MSV01 (servo axis control board), JANCD-IO01 (I/O expansion board)

Firmware Version: Supports VxWorks real-time operating system (specific to NX100/DX200)

IV. Core Functional Features

1. Central Processing and Motion Control

32-bit high-performance RISC processor, main frequency 400MHz

Real-time multitasking operating system, control cycle adjustable from 1ms to 8ms

Supports 8-axis basic control + expansion to 21-axis linkage

Linear, circular, helical, spline interpolation, trajectory accuracy ±0.001mm

Dual-robot collaborative control, external axis synchronization, positioner linkage 2. Bus and Communication Capabilities

VME bus for high-speed data exchange with servo modules (16Mbps)

10/100Mbps Ethernet: Supports TCP/IP, Modbus TCP, Profinet, EtherNet/IP

RS-232C: Communicates with teaching pendant, PC debugging, parameter backup

SSCNET III servo bus: Connects servo drives for synchronous control

Supports DeviceNet, Profibus-DP, CC-Link fieldbus expansion

3. Storage and Data Management

Built-in 512MB Flash ROM (system firmware, basic programs)

512MB DDR SDRAM (motion calculation, real-time data)

CF card expansion (up to 32GB): Stores programs, parameters, logs, backups

Real-time clock (RTC): Maintains time for 72 hours after power loss (powered by lithium battery)

Absolute encoder data retention after power loss (no need to return to zero)

4. I/O and Logic Control

Built-in 64-point I/O (32 inputs / 32 outputs, 24VDC)

Supports I/O expansion modules (up to 512 points)

Interrupt handling, position comparison, high-speed triggering (response < 1ms)

Safety I/O: Emergency stop, safety door, safety speed limit, torque safety (STO)

Logic control: Sequential control, interlocking, fault interlocking, production counting

5. Protection and Diagnosis

Overvoltage, undervoltage, overcurrent, overheat hardware protection

Real-time monitoring of encoder disconnection, position deviation, communication faults

Self-diagnosis of fault codes (32-bit detailed codes), dual indication by LED and screen

Storage of operation logs, alarm history, operation records (1000 entries)

Watchdog circuit: Automatic reset if program runs away, preventing out-of-control situations

V. Electrical Parameters

Power Requirements

Main power: 5VDC ±5%, maximum 2.5A (from controller power supply)

Auxiliary power: 3.3VDC, 12VDC (generated by on-board regulators)

Isolation withstand voltage: 1500VAC (signal and power isolation)

Signal Specifications

Ethernet: 10/100Base-TX, RJ45

Teaching pendant: Differential signal, 5V, maximum 100m transmission

Serial port: RS-232C, 9600 to 115200 bps

I/O: 24VDC, source/sink type universal, response < 0.5ms

Performance Indicators

Position control accuracy: ±1 pulse

Interpolation cycle: Minimum 1ms

Program storage capacity: Up to 60,000 points position

Communication response: <1ms (bus), <5ms (Ethernet)

MTBF: >85,000 hours (40°C, industrial environment)

VI. Environmental Parameters

Operating temperature: 0°C to +45°C

Storage temperature: -20°C to +70°C

Relative humidity: 10% to 90% RH (no condensation)

Vibration: 10 to 60Hz, 0.5G (IEC 60068-2-6)

Shock: 10G, 11ms half-sine wave

Pollution degree: 2 (industrial environment)

Altitude: ≤1000m

EMC: Complies with EN 61000-6-2/4, interference resistance level 3

VII. Key Points of C0N Version Upgrade

Hardware Reliability

Enhanced power filter circuit, ripple suppression improved by 40%

ESD protection: ±15kV (air), ±8kV (contact)

Electrolytic capacitor lifespan: 10 years (40°C)

Increased gold plating thickness on interfaces, anti-oxidation, insertion and removal life ≥ 500 times

Function Optimization

Added support for hot-swappable CF cards (in safe mode) Ethernet dual IP configuration, supporting the separation of the device network and the upper-level network

Extended fault diagnosis codes, supporting remote diagnosis

Firmware encryption protection, preventing illegal tampering

Compatibility expansion

Compatible with the latest firmware of the DX200 controller (Ver.7.0+)

Supports the new generation of servo drives (Σ-7/Σ-X series)

Adheres to safety standards: ISO 13849-1 PLd, SIL 2

VIII. LED Status Indicators

PWR (Green): 5V power supply normal (always on)

RUN (Green): System running (flashing: 1 time per second)

ALM (Red): Fault (always on: hardware fault; flashing: software alarm)

COM (Yellow): Communication activity (flashing: data transmission)

BAT (Orange): Low battery voltage (always on: replace the lithium battery)

IX. Installation and Maintenance

Installation Specifications

Vertically installed in the VME slot 0 of the controller (CPU slot)

Grounding impedance: < 1Ω (double-ended grounding of the cabinet)

CF card inserted correctly, battery polarity correct (3V lithium battery)

Fastening torque: 0.22 - 0.25 N·m for connector screws

Maintenance Matters

Lithium battery replacement cycle: 3 - 5 years (CR2032)

Regular backup of CF card: programs, parameters, logs

Regular cleaning: compressed air cleaning (power off state)

Firmware upgrade: official verified version to prevent incompatibility

X. Fault Diagnosis

ALM red light always on: Check 5V power supply, VME bus, hardware short circuit

Unable to start: CF card failure, firmware damage, low battery voltage

Teaching device unresponsive: CN3 interface, cable, teaching device hardware

Communication abnormal: IP settings, network cable, bus terminal resistance, firmware version

Position deviation: encoder, battery, mechanical zero position, servo parameters

XI. Safety and Certification

Compliance standards: UL 508, CE (LVD/EMC), IEC 61010, RoHS

Safety features:

Direct connection of emergency stop hardwired loop (response < 1ms)

Compatible with Safety Torque Off (STO)

Fault-safe design: automatically cuts off servo output in case of abnormality

Program permission management: multi-level password protection