DF9200720-C1 Product Technical Manual

Manufacturer: Yaskawa

Model: DF9200720-C1

Board Code: JANCD-MMM02-1E

Type: Robot Controller - Motion Control Expansion Module (Multi-axis Servo Control Board)

Applicable Systems: Yaskawa Motoman DX200, DX100 Robot Controllers

I. Product Overview

DF9200720-C1 is a multi-axis motion control expansion board specifically designed for Yaskawa robot controllers. It is mainly used for external axis servo drive control (such as transfer machines, reversing transfer machines, walking axes, additional axes), supporting multi-axis synchronous interpolation, position closed-loop control, speed and torque control. It is the key hardware for achieving 7-12-axis expansion in the DX200 system. C1 is the first generation mass-produced stable version, with mature hardware and strong compatibility.

II. Physical Specifications

Board Type: Standard 6U VME Industrial Card

Size: Approximately 233mm × 160mm × 20mm

Weight: Approximately 0.68kg Interface

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

CN1: External axis servo encoder feedback interface (differential signal)

CN2: Servo drive control signal (pulse/direction, enable, alarm)

CN3: I/O signals for axis limit, origin, emergency stop, etc.

LED status lights: PWR, RUN, AX1~AX4, ALM, COM

Process

8-layer industrial PCB, gold plating process

Full board three-proof coating (dust-proof, moisture-proof, corrosion-proof)

Wide temperature industrial-grade components (-40℃~+85℃)

Seismic reinforcement design

III. Version and Compatibility

Version evolution

DF9200720-C1: JANCD-MMM02-1E (first stable version, 4-axis control)

DF9200720-C2: JANCD-MMM02-2E (upgraded optimized version, compatible with C1)

Applicable controllers

DX200: Fully compatible (standardly supported)

DX100: Requires firmware upgrade (partially compatible)

YRC1000: Incompatible (different hardware architecture)

Replacement relationship

C1 ↔ C2: Hardware fully compatible, can be directly interchanged

C1 as the basic version, C2 optimized stability and anti-interference

IV. Core Functional Characteristics

1. Axis control capability

Control axis number: 4 external servo axes (single C1 block)

Maximum expansion: One controller can install 2 C1 blocks → a total of 8 external axes

Control mode

Position control (pulse string output)

Speed control (analog quantity / bus)

Torque control

Synchronous interpolation (linked with the 6 axes of the machine body)

Encoder feedback

Supports incremental encoders (ABZ phase)

Supports absolute encoders (serial communication)

Resolution: Maximum 16MHz pulse input

2. Motion control performance

Control cycle: 1ms (synchronized with the robot control cycle)

Positioning accuracy: ±1 pulse (closed-loop control)

Speed range: 0~10MHz pulse output

Synchronization capability: 6 axes of the body + 4 external axes of 10 axes synchronous interpolation

Limit protection: hardware soft limit, hard limit, origin return, overtravel alarm

3. I/O and signals

Each axis standard configuration:

Servo enable (SON)

Servo alarm (ALM)

Positive limit (+LM), negative limit (-LM)

Origin sensor (ORG)

Clear (CLR), ready (RDY)

Electrical isolation: Axis signals are 2500VAC optically isolated from the system

Anti-interference: EMC industrial grade 4, suitable for welding, stamping strong interference environment

V. Electrical Parameters

Power supply

System power supply: 5VDC ±5% (VME backplane, approximately 1.2A)

I/O power supply: 24VDC ±5% (external, approximately 0.8A)

Total power consumption: approximately 10W Environment

Operating temperature: 0°C ~ +55°C

Storage temperature: -20°C ~ +70°C

Humidity: 5%~90% RH (no condensation)

Vibration: 10~50Hz, 9.8m/s²

VI. LED Status Indicators

PWR (green): 5V power supply is normal (always on)

RUN (green): Module is running (1Hz flashing)

COM (green): VME communication is normal (fast flashing)

AX1~AX4 (yellow): Corresponding axes are activated (on = running)

ALM (red): Hardware / axis failure (always on)

VII. Installation and Configuration

Slot: DX200 controller VME expansion slot

Grounding: Cabinet safety grounding ≤1Ω

Cabling: Servo encoder cables and power cables are separated (≥100mm)

Configuration:

Power off installation of C1 board

Controller powers on, automatically identifies hardware

Teach pendant enters External Axis Parameter Setting: Axis type, encoder, limit switch

Origin return, soft limit, speed gain debugging

VIII. Typical Applications

Robot, tool changer, flipping table, walking axis control

Welding, cutting, handling Workstation multi-axis linkage

7~12 axes Composite robot system

Stamping, assembly line External servo axis synchronous control