Model Definition

• DF9200722: Base part number of the MMM04 series

• ‑C1: Hardware revision C1 (compatible with D1 and later variants)

• JANCD‑MMM04: Primary Yaskawa model number

• JANCD‑MCP02B‑1: Alternative part number

• Applicable Controllers: Motoman MRC, XRC series

Technical Specifications

Electrical Parameters

• Input Voltage: 5 V DC (internal controller supply)

• Power Consumption: Approx. 15 W

• Bus Interface: Proprietary controller bus, PCI‑based local bus

Mechanical & Environmental

• Dimensions: 230 mm × 160 mm × 30 mm

• Weight: Approx. 0.5 kg

• Operating Temperature: 0 °C to 55 °C

• Storage Temperature: ‑20 °C to 70 °C

• Humidity: 30%–95% RH, non‑condensing

• Protection Class: IP20 (indoor use)

Onboard Interfaces

• CPU: 32‑bit industrial processor

• Memory: Onboard RAM and flash for system firmware

• I/O Ports: Digital I/O, encoder interface, communication ports

• Expansion Slots: For additional axis or I/O boards

Core Functions

• Executes robot operating system and motion control algorithms

• Coordinates servo drives, I/O modules, and teach pendant communication

• Processes safety signals (emergency stop, door interlocks)

• Stores and runs user programs; manages alarm and diagnostic logs

• Controls robot arm kinematics, trajectory planning, and jog motion

Compatibility

• Controllers: Motoman MRC, XRC (legacy 1990s–2000s models)

• Teach Pendants: JZNC‑MPB02E (XRC/MRC)

• Compatible Boards:

  • I/O Board: DF9200676‑D0

  • Power Supply Board: DF9200674‑E0N

Common Faults & Maintenance

Common Faults

• No power/boot failure: Damaged power circuit or corrupted firmware

• Communication loss: Faulty bus interface or connector oxidation

• System crashes: CPU or memory component failure

• Alarm errors: Safety circuit or logic board malfunction

Maintenance Guidelines

• Use ESD protection during handling and installation

• Inspect connectors for looseness, dust, or corrosion

• Keep controller cabinet clean and dry

• Backup system firmware before replacement

Application Scenarios

• Central control for Motoman MRC/XRC robot systems

• Replacement/repair of aging controller main boards

• Industrial automation production lines using legacy Motoman robots