DF9200733-B0 Product Technical Specification

Manufacturer: Yaskawa

Model: DF9200733-B0

Board Code: JANCD-XXX01 (推测)

Type： Robot Controller - Safety / Motion Control Interface Module

Applicable Systems： Yaskawa Motoman DX200， YRC1000 Robot Controllers

I. Product Overview

DF9200733-B0 is a safety signal and motion control interface board developed by Yaskawa for the DX200/YRC1000 controllers. The core is used to handle safety-related I/O signals (emergency stop， safety door， safety guardrail， two-handed operation， etc.)， and provides external axis safety limit and servo enable control， meeting the ISO 13849-1 PL d， IEC 61508 SIL 2 safety level requirements. B0 is the initial safety function version， specifically designed for high-security workstations.

II. Physical Specifications

Board Type： Standard 6U VME Industrial Card

Size： Approximately 233mm × 160mm × 20mm

Weight： Approximately 0.65kg Interface

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

CN1: Safety input signals (Emergency Stop, Safety Door, Safety Switch)

CN2: Safety output signals (Servo Safety Enable, Safety Relay)

CN3: General I/O and external axis safety limit

LED status lights: PWR, SAFE, RUN, IN1~IN8, OUT1~OUT4, ALM

Process

8-layer industrial PCB, gold plating process

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

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

Dual-channel safety circuit redundant design

III. Version and Compatibility

Version evolution

DF9200733-B0: Initial safety version (basic safety functions, SIL 2/PL d)

DF9200733-B1: Optimized safety version (enhanced compatibility, B0 can be directly upgraded)

Applicable controllers

DX200: Fully compatible (safety functions are standardly supported)

YRC1000: Compatible (requires safety firmware package)

DX100: Incompatible (hardware architecture difference)

Replacement relationship

B0 ↔ B1: Hardware is fully compatible, can be directly interchanged

With non-safety board (such as DF9200720-C1): Different functions, cannot be interchanged

IV. Core Function Characteristics

1. Safety control capability

Safety input: 8-channel PL d/SIL 2 safety input

Emergency Stop (ESTOP), Safety Door

Safety Guardrail, Two-handed Operation, Safety Light Curtain

Safety output: 4-channel Safety Relay Output

Servo Safety Enable (SS1, SS2)

Safety Torque Off (STO, core safety function)

Safety Zone Limitation, Safety Speed Monitoring

Safety Standards

Compliant with ISO 13849-1 Category 3, PL d

Compliant with IEC 61508 SIL 2 safety level

Dual-channel redundant circuit, single-point failure does not affect safety

2. Motion safety functions

Safety Torque Off (STO)

Response time < 10ms

Cut off servo power supply to prevent accidental movement

Safety Speed Limit (SLS)

Monitor robot/external axis speed, exceedance immediately stops

Safety Position (SLP)

Limit axis movement range, overtravel safety cut-off

Safety Stop (SS1/SS2)

Slow-down stop → Cut off torque

3. I/O and Signals

Safety I/O:

Input: 24VDC ±20%, dual-channel redundant

Output: Safety Relay, 250VAC/30VDC 2A

Electrical isolation:

Safety circuit and system 3000VAC photoelectric isolation

Channel mutual isolation

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

V. Electrical Parameters

Power supply

System power: 5VDC ±5% (VME backplane, approximately 1.0A)

Safety I/O power: 24VDC ±20% (external safety power, approximately 0.5A)

Total power consumption: approximately 8W 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): Normal 5V power supply (always on)

SAFE (green): Normal safety status (always on)

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

IN1~IN8 (yellow): Safety input activated (on = valid)

OUT1~OUT4 (yellow): Safety output activated (on = valid)

ALM (red): Safety fault / emergency stop (always on)

VII. Installation and Configuration

Installation: Power off and insert DX200 VME expansion slot (preferably the safety-specific slot)

Grounding: Cabinet safety grounding ≤ 1Ω (independent safety grounding)

Cabling: Separate safety cables from power cables (≥150mm), use twisted shielded cables

Configuration:

Power-on of the controller, automatically identifies B0 safety board

Teaching device enters the "Safety Parameters" setting: safety I/O mapping, STO/SLS/SLP parameters

Safety function test: emergency stop, safety door, STO verification

Safety log and fault diagnosis

VIII. Typical Applications

Robot safety workstation, welding / cutting safety protection

Automobile assembly, stamping, etc. high safety requirement scenarios

External axes (tool changer, traveling axis) safety control

Robotic system meeting CE, TÜV safety certification requirements