Add name in 7 12 document

Your father shall execute a gift deed in your favour.   Without any title your name cannot be added.

Being a coparcerner (with your father) in the ancestral agriculture land, is there any requirement to get it endorsed in 7/12 ?

Yes endorsement is amust for title de laration of the property

If you don't have any rights in the property,  then you cannot get your name added to the 7/12 records without any reason. 

You can ask your father to transfer a portion of property by executing a registered settlement deed after which you can give an application to the revenue department to add your name in the revenue records pertaining to this property.