DF9200722-C1 Product Technical Specification

Manufacturer: Yaskawa

Model: DF9200722-C1

Board Code: JANCD-MMM04 (REV.D1)

Type: Robot Controller Multi-axis Motion Control Expansion Module (4-axis Servo Control Board)

Applicable Systems: Yaskawa Motoman DX200, DX100 Robot Controllers

I. Product Overview

DF9200722-C1 (JANCD-MMM04) is a 4-axis external servo axis control board specifically designed by Yaskawa for the DX200/DX100 controller. It is used to expand additional axes such as robot transfer machines, walking axes, and flipping tables, and supports synchronous interpolation with the robot's 6-axis and 10-axis. It is the core hardware for building 7-10-axis composite robot systems. C1 is the mass production 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 0.60kg Interface

VME system bus interface (controller backplane communication)

CN1: 4-axis servo encoder feedback (differential / absolute)

CN2: Servo drive control signals (pulses / direction, enable, alarm)

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

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

Process

8-layer industrial PCB, gold-plated interface

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

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

Seismic reinforcement design (compliant with IEC 60068-2-6)

III. Version and Compatibility

Version evolution

DF9200722-C1: JANCD-MMM04 REV.D1 (basic stable version)

DF9200722-C2: Optimized version (compatible with C1, enhanced anti-interference)

Applicable controllers

DX200: Fully compatible (standardly supported)

DX100: Requires VxWorks firmware upgrade (compatible)

YRC1000: Incompatible (different hardware architecture)

Replacement relationship

C1 ↔ C2: Hardware fully compatible, direct interchange

With DF9200720-C1 (MMM02): Functionally compatible, interface different, not interchangeable

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 → 8 external axes

Control mode

Position control (pulse string output: 0~10MHz)

Speed / torque control (analog / bus)

Origin return, point movement, synchronous interpolation

Encoder feedback

Incremental (ABZ phase), absolute (serial)

Resolution: Maximum 16MHz pulse input

Closed-loop control accuracy: ±1 pulse

2. Motion control performance

Control cycle: 1ms (synchronized with the robot)

Interlocking ability: Body 6 axes + external 4 axes 10 axes synchronous interpolation

Limit protection: Hardware hard limit, software limit, origin, overtravel alarm

Servo response: Instruction update < 200µs, positioning stable < 1ms

3. I/O and signals

Each axis standard configuration:

Servo enable (SON), alarm (ALM)

Positive / negative limit (+LM/-LM), origin (ORG)

Clear (CLR), ready (RDY)

Electrical isolation: Axis signal / system 2500VAC photoelectric isolation

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

V. Electrical Parameters

Power supply

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

I/O power: 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

Installation: Power off and insert DX200 VME expansion slot

Grounding: Cabinet safety grounding ≤1Ω

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

Configuration:

When the controller is powered on, it automatically identifies C1

Teaching device enters external axis parameters: axis type, encoder, limit switch

Origin return, soft limit, speed gain debugging

VIII. Typical Applications

Robot, changeover machine, walking axis, flipping table control

Welding, cutting, handling Workstation multi-axis linkage

7~10 axes Composite robot system

Stamping, assembly line External servo axis synchronous control