DF9201012-C0 Product Technical Specification

Manufacturer: Yaskawa / Motoman

Model: DF9201012-C0

Board Code: JANCD-MEW02-1 (REV.C0)

Type: Robot Controller - Single-axis Additional Servo Control Board

Applicable Systems: Motoman XRC, NX100 Robot Controller

I. Product Overview

DF9201012-C0 is an external axis expansion board specifically for the Yaskawa XRC/NX100 system. It is used to control external servo axes such as transfer machines, walking axes, and flipping tables, enabling synchronous linkage, precise positioning, and coordinated movement between the robot and external axes. It is widely used in welding, handling, and cutting automation lines. 

II. Physical Specifications

Board Type: Industrial non-standard plug-in card

Dimensions: Approximately 160×100×20mm

Weight: Approximately 0.3kg

Core: Servo ASIC, optical isolation, 12-bit D/A, encoder processing Interface

CN1: Servo analog command (±10V)

CN2: Differential input for encoder A/B/Z

CN3: Axis I/O (limit, origin, enable, alarm)

CN4: Internal bus interface

LED: PWR, RUN, ALM

Process: 6-layer PCB, gold plating, anti-corrosion coating, industrial-grade wide temperature range (-25℃~+75℃)

III. Version and Compatibility

DF9201012-C0: Current standard mass production version (REV.C0)

DF9201012-B0: Early basic version (discontinued)

DF9201012-C02: C0 optimized version (electrical fine-tuning)

Compatibility: XRC, NX100 controller

Incompatibility: DX100/DX200/YRC1000 new controllers

IV. Core Functions

Number of controlled axes: Single axis

Control mode

Speed control (±10V analog)

Position control (optional pulses)

Torque control

Electronic gear synchronization (following the main motion) Precision

D/A resolution: 12 bits

Instruction accuracy: ±0.1%

Position loop refresh: 1ms

Maximum pulse: 2Mpps (optional) Feedback

Incremental A/B/Z (1Vpp differential)

Highest resolution 16 bits

Break / short circuit / phase diagnosis

I/O and protection

Positive/negative limit, origin, servo enable / alarm, emergency stop

Overcurrent / overload / overvoltage / undervoltage / out-of-tolerance / overspeed / overtravel protection diagnosis

LED status: PWR (green), RUN (green flashing), ALM (red)

Fault log: 200 + records

Supports online firmware upgrade

V. Electrical parameters

Power supply: 24VDC ±10%, approximately 5W

Analog output: ±10V / ±10mA Environment

Work: 0°C to +60°C, 5% to 95% RH (no condensation)

Storage: -40°C to +85°C

Vibration: 10 to 500Hz / 1.5G, Shock: 15G / 11ms

Six. Typical Applications

Rotary axis of robot transfer machine

Servo control of robot walking axis

Synchronous control of welding flipping table

External auxiliary axis for handling / assembly

Multi-axis linkage expansion for cutting / spraying