Page 1 Operation Manual External Control (I/O / Fieldbus) Thank you for purchasing this Janome Robot. • Before using your robot, read this manual thoroughly and always make sure you use the robot correctly. In particular, be sure to thoroughly read “For Your Safety” as it contains important safety information.
Page 2: Preface
PREFACE This manual covers the JR3200, JR3300, JR3400, JR3500, and the JR3600 Series. There are several manuals pertaining to these robots. Manual Details JR3000 JC-3 JS3 • For Your Safety Be sure to thoroughly read “For Your Safety” as it contains important safety information. Read This First •...
Page 3 Warning Do not handle or operate the robot in ways not covered in the manuals listed here. Contact Janome (information provided on the back of this manual) for repairs. Failure to do so can cause electric shock or injury. Caution To make full use of the machine’s functions and capabilities, make sure that you...
Page 4: Table Of Contents
CONTENTS PREFACE ............................1 FOR YOUR SAFETY ........................7 1. OUTLET ............................ 15 1.1 Outlet Location and Shape ....................15 1.2 Internal Circuit of the Outlet Output Terminal ............... 16 1.3 Timing Chart......................... 17 2. I/O-SYS ............................. 18 2.1 Connectors........................... 18 2.2 Pin No.
Page 5 6.10 #sysIn2, #sysIn14 Stop-Start Inhibition................53 6.11 #sysIn2, #sysIn14 Software Interlock ................. 54 6.12 #sysIn2, #sysIn14 Urgent Stop ..................55 6.13 #sysIn12 Temporary Stop ....................56 6.14 #sysIn12 Temporary Stop - Single Point Run ..............57 6.15 #sysIn11 Temporary Stop and Initialize ................58 6.16 #sysIn11 Last Work ......................
Page 6 7.6.4 Link/Activity ........................78 7.6.5 Ethernet Connectors ..................... 79 7.6.6 Settings ......................... 80 7.7 EtherNet/IP .......................... 80 7.7.1 Connector Diagram ....................... 80 7.7.2 Network Status ......................80 7.7.3 Module Status ....................... 81 7.7.4 Link/Activity ........................81 7.7.5 Ethernet Connector ....................... 81 7.7.6 Settings .........................
Page 7 10.9 Pulse Output Signals ....................... 122 10.10 Circuit Diagram (NPN) ....................123 10.11 Circuit Diagram (PNP) ....................125 External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 8: For Your Safety
FOR YOUR SAFETY The safety notes outlined below are provided in order to ensure safe and correct usage of the product in addition to preventing injury to the operator, other people and damage to property as well. ・・・・・Be sure to follow the safety guidelines detailed here・・・・・ Symbols are also listed alongside the safety note explanations.
Page 9 FOR YOUR SAFETY If using auxiliary axis functions to operate a motor, such as a servo motor, that produces feedback and/or a motor with high output etc., or when using auxiliary axes in the robot setup etc., we ask that you perform a risk assessment on your side and take any necessary safety measures.
Page 10 FOR YOUR SAFETY If Using Auxiliary Axis Functions in a Way that Require Safety Measures Danger When power to the robot is ON, never enter the safety guard or put your head, hands, or any part of your body inside. Entering the safety guard could result in injury.
Page 11 FOR YOUR SAFETY If Using Auxiliary Axis Functions in a Way that Require Safety Measures Warning Construct safety guards that are strong enough to protect the operator against such dangers as the tool or workpiece splintering, etc. When working within the safety guard, use protective gear such as a helmet, protective gloves, protective goggles, and safety shoes.
Page 12 FOR YOUR SAFETY Danger Do not use where ﬂammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions or ﬁre. Warning Use protective gear such as a helmet, protective gloves, protective goggles, and safety shoes when installing the robot and performing maintenance. Failure to do so can cause injury.
Page 13 IP Protection Rating: IP20. If anything unusual occurs, such as a burning smell or unusual sound, stop operation and unplug the power cord immediately. Contact Janome (details on the back of this manual) or a Janome dealer. Continuing to use the robot without addressing the problem causes electric shock, ﬁre, or unit breakdown.
Page 14 FOR YOUR SAFETY Caution Do not drop or jar the unit during transport and/or installation. This can cause injury or damage the unit. Before performing any operation, ensure there is no imminent danger to any of the operators. Failure to do so causes injury. Use the unit in an environment between 0 and 40 °C, with a humidity level of 20 to 90 %, and without condensation.
Page 15 FOR YOUR SAFETY Caution When attaching tools, a USB camera, or any other device, make sure they are securely ﬁtted before running the robot. Failure to do so causes injury or breakdown. When using the machine for extended periods of time, check and make sure none of the main unit’s mounting screws are loose, and perform a routine inspection every 3 months or after every 750 hours of operation.
Page 16: Outlet
1. OUTLET The following robot models are equipped with a power outlet: JR3300, JR3400, JR3500 and JR3600. 1.1 Outlet Location and Shape JR3300 Series Example: JR3303N-AC JR3400 – JR3600 Series Outlet Example: JR3403N-AC If you want to stop tool operation when the emergency stop switch is pressed, use one of the following methods: When you want to stop the tool by cutting OFF the power supply.
Page 17: Internal Circuit Of The Outlet Output Terminal
1.2 Internal Circuit of the Outlet Output Terminal Desktop Robot Relay Fuse Power Switch AC Line External (Single- Device Phase) Outlet Inlet 24 V GND Emergency Stop Switch Initialization Signal Relay* 24 V GND I/O-S Input Signal Relay* DC 24 V 24 V GND *1: Initialization signal connection relay: the contact is open when the emergency stop switch is pressed, I/O-S is not shorted, or the power is OFF.
Page 18: Timing Chart
1.3 Timing Chart Power Switch Emergency Stop Switch Start/Stop Switch* I/O-S Input Signal Initialization Signal Outlet Output （1）（2）（3）（4）（5）（6） * The start/stop switch is operated in Switch Run Mode. A start operation is performed as follows for the other modes: •...
Page 19: I/O-Sys
2. I/O-SYS There are system functions assigned to I/O-SYS. For information regarding the assigned functions, refer to “4. I/O-SYS FUNCTION ASSIGNMENT.” 2.1 Connectors There are two types of I/O polarity: NPN speciﬁcations and PNP speciﬁcations. After conﬁrming your robot’s polarity speciﬁcations, always connect tools, etc., which are compatible with these speciﬁcations.
Page 20: Pin No. (Robot Side)
The robot’s I/O polarity can be conﬁrmed on the I/O nameplate. Refer to “3.1 I/O Polarity” in the operation manual Speciﬁ cations . 2.3 I/O Cable (Unit) ■ I/O Cable (Unit) (optional) NOTE: The part number varies according to the cable length. Cable Length [m] Janome Part No. 984937002 984937105 984937208 External Control (I/O / Fieldbus)
Page 21 Black Green Blue White Black Blue Blue Black ■ Connector (Unit) (I/O1) (optional) Janome part No.: 960537004 Connector: DC-37PF-N Junction Shell: DC-C8-J13-F4-1 (Manufacturer: Japan Aviation (Manufacturer: Japan Aviation Electronics Industry) Electronics Industry) External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 22: Wiring Layout Check (Npn)
2.4 Wiring Layout Check (NPN) Once the external device is connected to I/O-SYS or I/O-1, make sure you perform the following checks before turning ON the electricity. This page describes the robot’s I/O polarity for NPN speciﬁcations. For PNP speciﬁcations, refer to “2.5 Wiring Layout Check (PNP).”...
Page 23: Wiring Layout Check (Pnp)
2.5 Wiring Layout Check (PNP) Once the external device is connected to I/O-SYS or I/O-1, make sure you perform the following checks before turning ON the electricity. This page describes the robot’s I/O polarity for PNP speciﬁcations. For NPN speciﬁcations refer to “2.4 Wiring Layout Check (NPN).”...
Page 24: Power Supply Capacity
2.6 Power Supply Capacity Caution Adhere to the rated amperage outlined in the table below. If you exceed the values listed below, the internal circuits may be damaged. Power Supply Internal External Voltage DC 24 V DC 24 V Amperage per pin 100 mA or less 100 mA or less (when using DC 24 V)
Page 25: Input Signal (Npn)
2.7 Input Signal (NPN) ■ When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power, the input signals become active when the input pin and the external power supply ground are ON. External Power Supply DC 24 V COM+...
Page 26: Output Signal (Npn)
2.8 Output Signal (NPN) ■ When using an external power supply External Power Supply DC 24 V #sysOut1- ＋ External #sysOut16 Device － COM- (GND) ■ When using an internal power supply (optional) Internal Power Supply DC 24 V COM+ (DC 24 V) ＋...
Page 27: Circuit Diagram (Npn)
2.9 Circuit Diagram (NPN) ■ External Power Supply Speciﬁcations Pin No. Pin No. INPUT OUTPUT #sysout1 #sysIn1 2.4kΩ #sysout2 #sysIn2 2.4kΩ #sysout3 #sysIn3 2.4kΩ #sysout4 #sysIn4 2.4kΩ #sysout5 #sysIn5 2.4kΩ #sysout6 #sysIn6 2.4kΩ #sysout7 #sysIn7 2.4kΩ #sysout8 #sysIn8 2.4kΩ #sysout9 #sysIn9 2.4kΩ...
Page 28 ■ Internal Power Supply Speciﬁcations (optional) Internal Power Supply DC 24 V Pin No. INPUT OUTPUT Pin No. #sysIn1 #sysout1 2.4kΩ #sysIn2 #sysout2 2.4kΩ #sysIn3 #sysout3 2.4kΩ #sysIn4 #sysout4 2.4kΩ #sysIn5 #sysout5 2.4kΩ #sysIn6 #sysout6 2.4kΩ #sysIn7 #sysout7 2.4kΩ #sysIn8 #sysout8 2.4kΩ...
Page 29: Input Signal (Pnp)
2.10 Input Signal (PNP) ■ When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply are ON. External Power Supply DC 24 V #sysIn1-...
Page 30: Output Signal (Pnp)
2.11 Output Signal (PNP) ■ When using an external power supply External Power Supply DC 24 V COM+ (DC 24 V) ＋ External #sysOut1- Device － #sysOut16 ■ When using an internal power supply (optional) Internal Power Supply DC 24 V #sysOut1- #sysOut16 ＋...
Page 31: Circuit Diagram (Pnp)
2.12 Circuit Diagram (PNP) ■ External Power Supply Speciﬁcations Pin No. INPUT OUTPUT #sysIn1 Pin No. 2.4kΩ #sysout1 #sysIn2 2.4kΩ #sysout2 #sysIn3 2.4kΩ #sysout3 #sysIn4 2.4kΩ #sysout4 #sysIn5 2.4kΩ #sysout5 #sysIn6 2.4kΩ #sysout6 #sysIn7 2.4kΩ #sysout7 #sysIn8 2.4kΩ #sysout8 #sysIn9 2.4kΩ...
Page 32 ■ Internal Power Supply Speciﬁcations (optional) Pin No. Internal Power Supply INPUT DC 24 V OUTPUT #sysIn1 2.4kΩ Pin No. #sysout1 #sysIn2 2.4kΩ #sysout2 #sysIn3 2.4kΩ #sysout3 #sysIn4 2.4kΩ #sysout4 #sysIn5 2.4kΩ #sysout5 #sysIn6 2.4kΩ #sysout6 #sysIn7 2.4kΩ #sysout7 #sysIn8 2.4kΩ...
Page 33: Ac Power Control Of An External Device During An Emergency Stop
2.13 AC Power Control of an External Device during an Emergency Stop If the AC power supply to an external device for the tool attached to the robot is cut during an emergency stop (the emergency stop switch has been pressed, etc.), construct a relay (such as the one below) for the external device AC power supply input and connect the coil of this relay to the #sysOut7 (Emergency Stop Output) signal on the I/O-SYS terminal of the robot.
Page 34: System Input/Output Functions
3. SYSTEM INPUT/OUTPUT FUNCTIONS 3.1 Input • Start (#sysIn1) Turn ON this signal when you want to start or restart a program in External Run Mode. In addition, this signal is also used for moving to the work home position coordinates. This signal is enabled when Ready for Start (#sysOut1) is ON.
Page 35 • Start Inhibition (#sysIn2, #sysIn14) This signal becomes a function to inhibit starts when Start Inhibition (#sysIn2, #sysIn14) is set in [I/O-SYS Function Assignment]. You can select either type A or type B for this signal. “(A) Start Inhibition” (#sysIn2, #sysIn14) works when it is ON (positive logic), and “(B) Start Inhibition”...
Page 36 • Program Number Load (#sysIn3) This signal directs the loading of program numbers. When this signal comes ON, Program Number (#sysIn 4 – 10) is loaded. This function is enabled when [Administration Settings Mode]  [Program Number Change]  [I/O-SYS] is set to [Valid] and the Teaching Mode menu [All Program Common Settings] ...
Page 37 • Program Number (word) (#fbIn101) (Fieldbus) You can specify program numbers in this word register. This is valid if [Fieldbus] is set to [Valid] in [Change Program Number] in [Administration Settings Mode]. If [Program Number Switching Method] is set to [Load at Start (Fieldbus)], start the program after specifying the program number to this register.
Page 38 • Program Number 128 (#sysIn11) When ON, this signal enables you to specify program number 128 and higher. • Temporary Stop (#sysIn12, #sysIn16) You can temporarily stop programs that are running by turning this signal ON. However, you cannot stop a CP movement while it is running. You can only temporarily stop at PTP points. Also, when this signal is ON, start is inhibited.
Page 39: Output
3.2 Output • Ready for Start (#sysOut1) When the robot is ready to start, this signal comes ON. This occurs in the following situations: (1) Mechanical initialization standby when the power is turned ON. (2) Mechanical initialization standby after an emergency stop and emergency stop cancellation. (3) Waiting for program start at the work home position.
Page 40 • Emergency Stop (#sysOut7) This signal comes ON when an “Emergency Stop Error” occurs (the emergency stop switch is pressed, etc.). When this signal is ON, the Error (#sysOut6) signal comes ON at the same time. • Position Error (#sysOut8) If the Teaching Mode menu [All Program Common Settings] ...
Page 41: System Function Assignment Signal Conversion Table
3.3 System Function Assignment Signal Conversion Table Fieldbus I/O-SYS DeviceNet, PROFIBUS, CANopen, CC-Link PROFINET, EtherNet/IP #sysIn1 #fbIn1000 #fbIn1400 #sysIn2 #fbIn1001 #fbIn1401 #sysIn3 #fbIn1002 #fbIn1402 #sysIn4 #fbIn1003 #fbIn1403 #sysIn5 #fbIn1004 #fbIn1404 #sysIn6 #fbIn1005 #fbIn1405 #sysIn7 #fbIn1006 #fbIn1406 #sysIn8 #fbIn1007 #fbIn1407 #sysIn9 #fbIn1008 #fbIn1408 #sysIn10...
Page 42: I/O-Sys Function Assignment
4. I/O-SYS FUNCTION ASSIGNMENT The following functions are assigned to I/O-SYS in advance: Name Function Pin No. Ext #sysIn1 Start/Free #sysIn2 Free/(B) Start Inhibition/(B) Stop-Start Inhibition/ (B) Software Interlock/(B) Urgent Stop/(A) Start Inhibition/ (A) Stop-Start Inhibition/(A) Software Interlock/(A) Urgent Stop #sysIn3 Program Number Load/Free #sysIn4...
Page 43 Name Function Pin No. #sysOut1 Ready for Start/Free #sysOut2 Robot Stopped/Free #sysOut3 Program Number ACK/Free #sysOut4 Program Number Error/Free #sysOut5 Running/Free #sysOut6 Error/Free #sysOut7 Emergency Stop/Free #sysOut8 Position Error/Free #sysOut9 Free #sysOut10 Free #sysOut11 Free #sysOut12 Free/Finish Initialize #sysOut13 Free #sysOut14 Free #sysOut15 Free #sysOut16 Free...
Page 44: Fieldbus Function Assignment
5. FIELDBUS FUNCTION ASSIGNMENT The following input/output functions are assigned to Fieldbus in advance: Name Relay Number Function Ext fbIn1000 1000 Start/Free fbIn1001 1001 Free/Start Inhibition/Stop-Start Inhibition/Software Interlock/ Urgent Stop fbIn1002 1002 Program Number Load/Free fbIn1003 1003 Free fbIn1004 1004 Free fbIn1005 1005...
Page 45: System Input/Output Signal Timing Charts
6. SYSTEM INPUT/OUTPUT SIGNAL TIMING CHARTS 6.1 Power ON, Mechanical Initialization, Go to Work Home and Run Program This chart shows when [All Program Common Settings]  [Other Parameters]  [Initialize] is set to [Work Home After Initialize]. These are default values. Power #sysIn1 Start #sysIn2 Free...
Page 46: Power On, Mechanical Initialization And Run Program
6.2 Power ON, Mechanical Initialization and Run Program This chart shows when [All Program Common Settings]  [Other Parameters]  [Initialize] is set to [Work Home after First Cycle]. Power #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready for Start...
Page 47: Power On, Mechanical Initialization, Go To Work Home And Run Program
6.3 Power ON, Mechanical Initialization, Go to Work Home and Run Program This chart shows when [All Program Common Settings]  [Other Parameters]  [Initialize] is set to [Work Home on Start]. Power #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 –...
Page 48: Change Program Number And Run Program Via Program Number Load
6.4 Change Program Number and Run Program via Program Number Load This chart shows when [Administrative Settings Mode]  [Change Program Number]  [I/O-SYS] is set to [Valid] and [All Program Common Settings]  [I/O Settings]  [Program Number Switching Method] is set to [LOAD/ACK Handshake];...
Page 49: Change Program Number, Run Program And Go To Work Home Via Program Number Load
6.5 Change Program Number, Run Program and Go to Work Home via Program Number Load This chart shows when [Administration Settings Mode]  [Change Program Number]  [I/O-SYS] is set to [Valid], and [All Program Common Settings]  [I/O Setting]  [Program Number Switching Method] is set to [LOAD/ACK Handshake];...
Page 50: Change Program Number And Program Number Error Via Program Number Load
6.6 Change Program Number and Program Number Error via Program Number Load The chart shows when [Administration Settings Mode]  [Change Program Number]  [I/O-SYS] is set to [Valid], and [All Program Common Settings]  [I/O Settings]  [Program Number Switching Method] is set to [LOAD/ACK Handshake], and when there is no program registered to the loaded number.
Page 51: Change Program Number And Run Program Via Load At Start
6.7 Change Program Number and Run Program via Load at Start This chart shows when [Administrative Settings Mode]  [Change Program Number]  [I/O-SYS] is set to [Valid], and [All Program Common Settings]  [I/O Settings]  [Program Number Switching Method] is set to [Load at Start (I/O-SYS)].
Page 52: Program Number Error And Changing Program Numbers Via Load At Start
6.8 Program Number Error and Changing Program Numbers via Load at Start This chart shows when [Administrative Settings Mode]  [Change Program Number]  [I/O-SYS] is set to [Valid], and when [All Program Common Settings]  [I/O Settings]  [Program Number Switching Method] is set to [Load at Start (I/O-SYS)].
Page 53: Sysin2, #Sysin14 Start Inhibition
6.9 #sysIn2, #sysIn14 Start Inhibition The chart below shows (B) Start Inhibition (negative logic). #sysIn1 Start Start Start Inhibition Inhibition #sysIn2 Start Inhibition Invalid #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready for Start #sysOut2 Robot Stopped Temporary Stop #sysOut3 Program Number ACK...
Page 54: Sysin2, #Sysin14 Stop-Start Inhibition
6.10 #sysIn2, #sysIn14 Stop-Start Inhibition The chart below shows (B) Stop-Start Inhibition (negative logic). #sysIn1 Start Start Start Inhibition Inhibition #sysIn2 Stop-Start Inhibition #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready For Start #sysOut2 Robot Stopped Temporary Stop #sysOut3Program Number ACK...
Page 55: Sysin2, #Sysin14 Software Interlock
6.11 #sysIn2, #sysIn14 Software Interlock The same operation occurs if [I/O-S Function Settings] is set to [Interlock]. The chart below shows (B) Software Interlock (negative logic). From here onwards, this is the same as a job when the power is turned ON. #sysIn1 Start Start Inhibition...
Page 56: Sysin2, #Sysin14 Urgent Stop
6.12 #sysIn2, #sysIn14 Urgent Stop The robot makes an urgent stop regardless of whether it is standing by to start or running at the time. The emergency stop switch or the I/O-S emergency stop function also performs the same operation. The chart below shows (B) Urgent Stop (negative logic).
Page 57: Sysin12 Temporary Stop
6.13 #sysIn12 Temporary Stop The #sysIn12 Temporary Stop signal is positive logic. It also has an inhibit start function. #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work Start Start Inhibition Inhibition #sysIn12 Temporary Stop #sysOut1 Ready for Start #sysOut2 Robot Stopped Temporary Stop...
Page 58: Sysin12 Temporary Stop - Single Point Run
6.14 #sysIn12 Temporary Stop - Single Point Run The #sysIn12 Temporary Stop - Single Point Run signal is positive logic. #sysIn1 Start #sysIn12 Temporary Stop - Single Point Run #sysOut1 Ready for Start #sysOut2 Robot Stopped Temporary Temporary Stop Stop #sysOut5 Running Program Run 1 Point Run...
Page 59: Sysin11 Temporary Stop And Initialize
6.15 #sysIn11 Temporary Stop and Initialize #sysIn1 Start #sysIn11 Initialize #sysIn12 Temporary Stop at Next Point #sysOut1 Ready for Start #sysOut2 Robot Stopped Temporary Stop Initialize #sysOut5 Running Program Complete #sysOut12 Finish Initialize Time External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 60: Sysin11 Last Work
6.16 #sysIn11 Last Work A program is repeated if [Cycle Mode] is set to [Continuous Playback]. Turn ON the [Last Work] signal to ﬁnish the program. #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready for Start #sysOut2 Robot Stopped...
Page 61: Sysout6 Error
6.17 #sysOut6 Error As a rule, when an error has occurred, turn OFF the robot and then turn it ON again. Power #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready For Start #sysOut2 Robot Stopped #sysOut3 Program Number ACK...
Page 62: Sysout8 Position Error
6.18 #sysOut8 Position Error Position errors are detected at the end of a program. Even when errors occur it is possible to start the next program. #sysIn1 Start #sysIn2 Free #sysIn3 Program Number Load #sysIn4 – 10 Program Number #sysIn11 Last Work #sysIn12 Temporary Stop #sysOut1 Ready for Start #sysOut2 Robot Stopped...
Page 63: Fieldbus
7. FIELDBUS Fieldbus is an optional function for the JR3000 Series. (Not compatible with JR3000F models) The compatible Fieldbus module types are DeviceNet, PROFIBUS, CC-Link, CANopen, PROFINET, and EtherNet/IP. Make sure you make the Fieldbus settings correctly because the connector shape and settable items diﬀer according to the Fieldbus module type.
Page 64 JR3200 Series Example: JR3203N-AC Fieldbus (optional) JR3300 Series Example: JR3303N-AC/BC/CC Fieldbus (optional) JR3400 – JR3600 Series Example: JR3403N-AC/BC/CC Fieldbus (optional) External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 65: Fieldbus Settings
7.1 Fieldbus Settings To set up the Fieldbus module type, use the Fieldbus Settings teaching pendant to perform the procedure DeviceNet PROFIBUS below, and select the module you want to set up. CC-Link For details regarding the settable items for CANopen each respective Fieldbus module, refer to that PROFINET...
Page 66: Module Status
7.2.3 Module Status Status Details Not supplied with power Green LED Communicating normally Green LED blinking (1 Hz) Settings are incorrect Red LED Fatal malfunction Malfunction; restoration possible. May be possible to restore RED LED blinking (1 Hz) with re-setup, etc. Red and green LEDs alternating Self-test 7.2.4 Connector Pin Assignment Pin No.
Page 67: Settings
7.2.5 Settings Settable Setting/Selection Function Items Range Read Domain 0 – 127 Word number input is the amount of data input (external Word Count PLC writes/sends, robot reads/receives). Set the necessary amount of data in words (1 word is 2 bytes). For DeviceNet, you can set up to 127 words.
Page 68: Profibus
7.3 PROFIBUS 7.3.1 Connector Diagram This module has two status LEDs and one PROFIBUS connector. Name Operation Mode (OP) (LED) Status (ST) (LED) PROFIBUS Connector PROFIBUS DP-V1 7.3.2 Operation Mode (OP) / Status (ST) By looking at the Operation Mode (OP) and Status (ST) LED combinations you can conﬁrm the following statuses: PROFIBUS Module Front LED Data exchange...
Page 69: Settings
Danger Before connecting a Fieldbus, make sure safety can be maintained at all times when the robot is run. If signals such as a start signal etc., are assigned to the Fieldbus, the Fieldbus may standby waiting to send signals and cause the robot to start running directly after it is connected.
Page 70: Profibus Master (Plc) Settings
7.3.5 PROFIBUS Master (PLC) Settings When setting up the slave (robot) conﬁguration for the PROFIBUS master (PLC), fulﬁll the following conditions: Set the input and output in “1 word” units. Set the data in the sequence, output  input. ■ Example of settings on the master side: 1 word unit Output 1 - 1 word...
Page 71: Cc-Link
7.4 CC-Link 7.4.1 Connector Diagram This module has two status LEDs and one CC-Link connector. Name Run (RUN) (LED) Error (ERR) (LED) CC-Link Connector CC-Link 7.4.2 Run (RUN) / Error (ERR) By looking at the Run (RUN) and Error (ERR) LED combinations you can conﬁrm the following statuses: Conﬁguration Settings CC-Link Module Front LED...
Page 72 Danger Before connecting a Fieldbus, make sure safety can be maintained at all times when the robot is run. If signals such as a start signal etc., are assigned to the Fieldbus, the Fieldbus may standby waiting to send signals and cause the robot to start running directly after it is connected.
Page 73: Settings
7.4.4 Settings Settable Items Setting/Selection Range Function Station Number 1 – 64 You can set station numbers 1 – 64. The CC- Link remote device station is distinguished by its station number. If you are connecting multiple slaves, choose and set available station numbers.
Page 74 1 Station Occupied/Expansion Cyclic Setting x1 Number Register Number Relay Number Data Input 100 – 103 I/O Input 1400 – 140F Data Output 180 – 182 I/O Output 1C00 – 1C0F 2 Stations Occupied/Expansion Cyclic Setting x1 Number Register Number Relay Number Data Input 100 –...
Page 75: Canopen
1 Station Occupied/Expansion Cyclic Setting x4 Number Register Number Relay Number Data Input 100 – 10F I/O Input 1400 – 141F Data Output 180 – 18E I/O Output 1C00 – 1C1F 1 Station Occupied/Expansion Cyclic Setting x8 Number Register Number Relay Number Data Input 100 –...
Page 76: Error Status
7.5.3 ERROR Status Status Details Not supplied with power or the bus is functioning properly Red blinking (fast) Red ﬂash (x1) Multiple communication errors Red ﬂash (x2) Event notiﬁcation received from the network Number of communication errors exceeded the stipulated amount 7.5.4 Connector Pin Assignment Pin No.
Page 77: Settings
7.5.5 Settings Setting/ Settable Items Function Selection Range Node Addr. Selection Enter Value Select the method of specifying the node address. Method Specify LSS The node address is automatically assigned on the CANopen network with [Specify LSS]. Specify the node address when using [Enter Value]. Node Address 1 –...
Page 78: Canopen Assignment
7.5.6 CANopen Assignment Select and assign the appropriate relays/registers from the Fieldbus domain of the I/O memory. Use the correct EDS ﬁle according to the CANopen environment. Also make sure to assign the relays/registers using your master device (PLC, etc.) conﬁguration tool. The diagram below is an example of when using the following EDS ﬁle: EDS_ABCC_COP_JANOME_OUT16_IN16.eds.
Page 79: Profinet
7.6 PROFINET 7.6.1 Connector Diagram This module has four status LEDs and two Ethernet connectors. Name Network Status (NS) (LED) Module Status (MS) (LED) Ethernet Connector (Port 1) Ethernet Connector (Port 2) PROFINET IO 5, 6 Link/Activity (LED) 7.6.2 Network Status Status Details Not supplied with power...
Page 80: Ethernet Connectors
Fieldbus Input: 1024 points (64 Words) Fieldbus Output: 1024 points (64 Words) GSDML-2.3V-JANOME-RW127- xxxxxxxx.xml Fieldbus Input: 2032 points (127 Words) Fieldbus Output: 2032 points (127 Words) NOTE: The numbers are entered in the “x” of the ﬁle name, except for extension.
Page 81: Settings
7.6.6 Settings Setting Range / Settable Items Function Selection Word Count for Select the number of words to use in the Fieldbus Read/Write Domain read/write domain. The read/write domain makes the same number of words available. Toggle DAP2 Invalid Specify whether or not your module supports DAP Support Valid protocol version 2.
Page 82: Module Status
7.7.3 Module Status Status Details Not supplied with power Green Communicating normally Green blinking Idle status Fatal error Red blinking Conﬁguration error 7.7.4 Link/Activity Status Details Network cable is not connected Green Link is established at 100 Mbps but with no communication Green blinking Link and communication are established at 100 Mbps Yellow...
Page 83: Settings
■ EDS File The EDS ﬁle is a text ﬁle that includes the device characteristics and conﬁguration options. Download the EDS ﬁle to the master unit and conﬁguration tool as required. The EDS ﬁle is included on the operation manual CD-ROM. EDS File Application 005A0000002E0100_JMxxxxxxxx.eds...
Page 84: Fieldbus Expansion I/O Function
7.8 Fieldbus Expansion I/O Function By assigning teaching data such as point information or position data information to the Fieldbus input/output area, you can set and obtain that information from an external PLC. If you use this function, you can set and make position adjustments (override the settings) of the robot’s point information and oﬀset information, etc., from an external PLC, via input from the Fieldbus.
Page 85: Valid/Invalid Settings
7.8.2 Valid/Invalid Settings To valid the Fieldbus expansion I/O function, follow the procedure below for the teaching pendant and select [Fieldbus Expansion I/O Function]  [Valid]. Teaching Mode MENU [All Program Common Settings] [I/O Settings] [Fieldbus Expansion I/O Function] [Data]  [All Program Common Settings]  [Fieldbus Expansion I/O] Fieldbus Expansion I/O Function Invalid Valid...
Page 86 ■ Point Data Position Settings (Command Code 1001h) Specify the program number, point number and position data, and set the teaching data point position. Example: Setting the position for point number 56, program number 12 Register Number Data (hex) Function fbIn102 Command Instruction bit0: OFFON: execute command...
Page 87 ■ Workpiece Adjustment Data (Z axis only) Settings (Command Code 1002h) Specify the workpiece adjustment number and set the workpiece adjustment values. Command Code 1002h is a command that sets only the Z adjustment amount of the workpiece adjustment and can therefore be used for height direction adjustments. Example: Lower the height of workpiece adjustment number 8 by 2 mm (set a workpiece adjustment amount of +2 mm) Register Number...
Page 88 ■ Workpiece Adjustment Data (X/Y/Z/R/ θ ) Settings (Command Code 1003h) Command Code 1003h sets the values for the 5 parameters: X Adjustment, Y Adjustment, Z Adjustment, R Adjustment, Rotate Adjustment. Example: Set workpiece adjustment number 8 with X Adjustment -2.3 mm, Y Adjustment -20.5 mm, Z Adjustment +2 mm, R Adjustment 0.5 deg, Rotate Adjustment 0.001 deg.
Page 89 ■ TCP Direct Settings (Command Code 1004h) Use this code if directly setting the TCP. Example: TCP settings for program number 8 Register Number Data (hex) Function fbIn102 Command Instruction bit0 : OFFON: execute command fbIn103 1004 Command code fbIn104 0001 : Program data Setting Destination 0 : All Program Common Settings...
Page 90 ■ Set the TCP by Specifying 2 Points (Command Code 1005h) With 4 axis speciﬁcations, when you change the R axis and specify the same point as previously speciﬁed, the TCP is set from these two positions. The settings location and method of specifying the program number or tool number are the same as they are for command code 1004h.
Page 91 Example: Normal Register Number Data (hex) Function fbOut182 Command Response bit0 : OFF: execution possible, ON: executing fbOut183 0000 Return Code 0 : normal, FFEF : parameter error NOTE: This error occurs when there is no speciﬁed program or tool data. ■...
Page 92 ■ Acquire Tool Tip Position (Command Code 1011h) This requests transmission of the robot’s current tool tip position. The robot returns the current positions (X coordinate, Y coordinate, Z coordinate and R coordinate values) in response to this request. Register Number Data (hex) Function fbIn102...
Page 93 ■ Acquire TCP Speciﬁed Tool Tip Position (Command Code 1012h) This command transmits the TCP values and requests transmission of the tool tip position. The robot returns the current positions (X coordinate, Y coordinate, Z coordinate and R coordinate values) in response to this request. Register Number Data (hex) Function...
Page 94 ■ Acquire the Adjustment Amount for the Workpiece Adjustment (Command Code 1013h) This returns the adjustment amount of the workpiece adjustment (1 – 3000) in response to the run information request. This also returns whether the speciﬁed workpiece number is deﬁned (valid) or not (invalid). If the number is out of range, this is also returned as invalid.
Page 95 *1: This returns whether the speciﬁed workpiece number is deﬁned (Valid) or not (Invalid). If the number is out of range, this is also returned as invalid. The conversion expressions from the coordinates to the values in parentheses ( ) are as follows: *2: -2.300 [mm] (coordinates) / 0.001 [mm] (unit) = -2300 : FFFFF704h (hexadecimal) *3: 0.50 deg (coordinates) / 0.01 deg (unit) = 50 : 32h (hexadecimal) External Control (I/O / Fieldbus)
Page 96: I/O-1
8. I/O-1 I/O-1 controls the robot by point jobs/PLC programs. 8.1 Connector There are two types of I/O polarity: NPN Speciﬁcations and PNP speciﬁcations. After conﬁrming your robot’s polarity speciﬁcations, always connect tools, etc., which are compatible with these speciﬁcations. ■...
Page 97: Pin No. (Robot Side)
JR3300 Series Example: JR3303N-AC I/O-1 (optional) JR3400 – JR3600 Series Example: JR3403N-AC I/O-1 (optional) 8.2 Pin No. (Robot Side) NOTE: When connecting an external device, make sure it is compatible with the I/O polarity. The robot’s I/O polarity can be conﬁrmed on the I/O nameplate. Refer to “3.1 I/O Polarity” in the operation manual Speciﬁ...
Page 98: Function Assignment List
8.3 Function Assignment List Name Function Pin No. #genIn1 Free #genIn2 Free #genIn3 Free #genIn4 Free #genIn5 Free #genIn6 Free #genIn7 Free #genIn8 Free #genOut1 Free 9, 10 #genOut2 Free 11, 12 #genOut3 Free 13, 14 #genOut4 Free 15, 16 #genOut5 Free #genOut6...
Page 99: I/O2 Cord (Unit)
If you connect an external device to I/O-1, make sure to check the wiring before turning ON the electricity. Refer to “2.4 Wiring Layout Check (NPN)” “2.5 Wiring Layout Check (PNP).” ■ Connector (Unit) (I/O2) (optional) Janome part No.: 961513007 Junction Shell: Connector: DB-25SF-N DB-C8-J10-F4-1 (Manufacturer: Japan...
Page 100: Power Supply Capacity
8.5 Power Supply Capacity Caution Adhere to the rated amperage outlined in the table below. If you exceed the values listed below, the internal circuits may be damaged. Use the following capacities for both the internal and external power sources: Type Output/Input Rated Value I/O-1(#genOut1 –...
Page 101: Input Signal (Npn)
8.6 Input Signal (NPN) ■ When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply ground are ON. External Power DC 24 V COM+ (DC 24 V)
Page 102: Output Signal (Npn)
8.7 Output Signal (NPN) ■ When using an external power supply External Power Supply DC 24 V #genOut5- ＋ External #genOut8 Device － COM- (GND) ■ When using an internal power supply (optional) Internal Power Supply DC 24 V COM+ (DC 24 V) ＋...
Page 103: Circuit Diagram (Npn)
8.8 Circuit Diagram (NPN) ■ External Power Supply Speciﬁcations Pin No. Pin No. INPUT OUTPUT DC 5 V #genout1 #genIn1 2.4kΩ #genout1 #genout2 #genIn2 2.4kΩ #genout2 #genout3 #genIn3 2.4kΩ #genout3 #genout4 #genIn4 2.4kΩ #genout4 #genout5 #genIn5 2.4kΩ #genout6 #genIn6 2.4kΩ #genout7 #genIn7 2.4kΩ...
Page 104 ■ Internal Power Supply Speciﬁcations (optional) Internal Power DC 24 V Pin No. INPUT OUTPUT Pin No. DC 5 V #genIn1 #genout1 2.4kΩ #genout1 #genIn2 #genout2 2.4kΩ #genout2 #genIn3 #genout3 2.4kΩ #genout3 #genIn4 #genout4 2.4kΩ #genout4 #genIn5 #genout5 2.4kΩ #genIn6 #genout6 2.4kΩ...
Page 105: Input Signal (Pnp)
8.9 Input Signal (PNP) ■ When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active if the input pin and the external power supply are ON. External Power Supply DC 24 V #sysIn1- #sysIn8...
Page 106: Output Signal (Pnp)
8.10 Output Signal (PNP) ■ When using an external power supply External Power Supply DC 24 V COM+ (DC 24 V) ＋ External #sysOut5- Device － #sysOut8 ■ When using an internal power supply (optional) Internal Power Supply DC 24 V #sysOut5- #sysOut8 ＋...
Page 107: Circuit Diagram (Pnp)
8.11 Circuit Diagram (PNP) ■ External Power Supply Speciﬁcations Pin No. INPUT OUTPUT Pin No. DC 5 V #genIn1 #genout1 2.4kΩ #genout1 #genIn2 #genout2 2.4kΩ #genout2 #genIn3 #genout3 2.4kΩ #genout3 #genIn4 #genout4 2.4kΩ #genout4 #genIn5 2.4kΩ #genout5 #genIn6 2.4kΩ #genout6 #genIn7 2.4kΩ...
Page 108 ■ Internal Power Supply Speciﬁcations (optional) Internal Power Pin No. INPUT DC 24 V #genIn1 OUTPUT Pin No. DC 5 V 2.4kΩ #genout1 #genIn2 #genout1 2.4kΩ #genout2 #genIn3 #genout2 2.4kΩ #genout3 #genIn4 #genout3 2.4kΩ #genout4 #genIn5 #genout4 2.4kΩ #genIn6 2.4kΩ #genout5 #genIn7 2.4kΩ...
Page 109: I/O-S
9. I/O-S 9.1 Connector JR3200 Series Example: JR3203N-AC/BC/CC I/O-S (optional) JR3300 Series Example: JR3303N-AC/BC/CC JR3400 – JR3600 Series I/O-S (optional) Example: JR3403N-AC/BC/CC External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 110: Pin No. (Robot Side)
The I/O-S connector attachment is included for connecting a safety device, such as an area sensor, to the robot. Correctly connect the lead wires from the safety device to the I/O-S connector. For further information, refer to “9.3 Safety Device” and the safety device’s instruction manual.
Page 111: Safety Device
9.3 Safety Device With this desktop robot the end user can connect a safety device such as an area sensor or door switch, etc., when there is a risk of danger due to some part of the body entering the robot’s work area. I/O-S is an interface for connecting such a safety device.
Page 112 ■ Safety Circuit P.C.B. RY Power switch CNAC1 CNAC2 AC200-240V 50-60Hz From Inlet CNDCIN Fuse CNOUTL Outlet P.C.B. B CNRY SWITCH BOX Emergency CNSB switch Software IO-S Disable TEACHING PENDANT Emergency CNTP switch Power ON Signal 3.3V Detect IO-S I/O-S CNIOS Detect EMG Detect Power ON...
Page 113: I/O-Mt
10. I/O-MT I/O-MT is a connector that connects and controls externally attached devices such as a motor driver for the motor etc. You can set up I/O functions and resolution etc. according to the devices you have. For further details, refer to the operation manual Auxiliary Axis Functions . 10.1 Connector There are two types of I/O polarity: NPN speciﬁcations and PNP speciﬁcations.
Page 114: Pin No. (Robot Side)
JR3300 Series Example: JR3303N-AC/BC/CC I/O-MT (optional) JR3400 – JR3600 Series Example: JR3403N-AC/BC/CC 10.2 Pin No. (Robot Side) Connector Model Number: PCR-E50PMC (Manufacturer: Honda Tsushin Kogyo) External Control (I/O / Fieldbus) DESKTOP ROBOT JR3000...
Page 115: Function Assignment (Npn)
10.3 Function Assignment (NPN) Name Function Pin No. Input MT1 Input 1 Refer to the operation manual Auxiliary Axis Functions . MT1 Input 2 MT1 Input 3 MT1 Input 4 MT1 Input 5 MT1 Input 6 MT1 Input 7 MT1 Input 8 MT1 Input COM+ Sensor Input MT1 Sensor Input 2 MT1 Sensor Input 1...
Page 116 Name Function Pin No. Input MT2 Input 1 Refer to the operation manual Auxiliary Axis Functions . MT2 Input 2 MT2 Input 3 MT2 Input 4 MT2 Input 5 MT2 Input 6 MT2 Input 7 MT2 Input 8 MT2 Input COM+ Sensor Input MT2 Sensor Input 2 MT2 Sensor Input 1 MT2 Sensor COM-...
Page 117: Function Assignment (Pnp)
10.4 Function Assignment (PNP) Name Function Pin No. Input MT1 Input 1 Refer to the operation manual Auxiliary Axis Functions . MT1 Input 2 MT1 Input 3 MT1 Input 4 MT1 Input 5 MT1 Input 6 MT1 Input 7 MT1 Input 8 MT1 Input COM- Sensor Input MT1 Sensor Input 2 MT1 Sensor Input 1...
Page 118 Name Function Pin No. Input MT2 Input 1 Refer to the operation manual Auxiliary Axis Functions . MT2 Input 2 MT2 Input 3 MT2 Input 4 MT2 Input 5 MT2 Input 6 MT2 Input 7 MT2 Input 8 MT2 Input COM- Sensor Input MT2 Sensor Input 2 MT2 Sensor Input 1 MT2 Sensor COM-...
Page 119: I/O-Mt Option Cord (Unit)
Pink (Black continuous) White (Red 2) Gray (Black 4) Pink (Red continuous) Yellow (Black 2) Gray (Red 4) ■ I/O-MT Connector (Unit) (optional) Janome Part No.: 170554004 PCR Half Pitch Connector PCR Connector: with Hood: PCR-E50FA+ PCS-E50LPA (Manufacturer: Honda Tsushin...
Page 120: Power Supply Capacity
10.6 Power Supply Capacity Caution Adhere to the voltage capacities outlined in the table below. If you exceed the values listed below, the internal circuits may be damaged. Type Rated Output/Input Output Pin MT1 Output 1 – 6 Photocoupler DC 24 V, 100 mA/pin MT1 Output COM+ Photocoupler...
Page 121: Input Signals
10.7 Input Signals External Power Supply DC 24 V COM+ (DC 24 V) #MT1 Input1－8 #MT2 Input1－8 External Power Supply DC 24 V #MT1 Input1－8 #MT2 Input1－8 5.6k INPUT COM- (GND) If connecting a two-wire external device, such as a sensor, use one which has a leakage current of no more than 0.3 mA.
Page 122: Output Signals
10.8 Output Signals External Power Motor Driver I/O-MT Side Supply DC 24 V Control Signal COM+ #MT1 Output1 Input Output COM- (GND) Motor Driver External Power I/O-MT Side Control Signal Supply DC 24 V Output COM+ (DC 24 V) #MT1 Output1 Input COM-...
Page 123 10.9 Pulse Output Signals External Power Supply DC 5 V − DC 24 V #MT1,MT2 Pulse Output COM+ MOSFET #MT1,MT2 CW,CCW Pulse Output #MT1,MT2 Pulse Output COM- External Power Supply DC 5 V − DC 24 V #MT1,MT2 Pulse Output MOSFET COM+ #MT1,MT2...
Page 124 10.10 Circuit Diagram (NPN) MT1 Circuit Diagram NPN ■ Input ■ Output Pin No. Pin No. COM+ Output 1 5.6k Input 1 Output 2 5.6k Input 2 Output 3 5.6k Input 3 Output 4 5.6k Input 4 Output 5 5.6k Input 5 Output 6 5.6k...
Page 125 MT2 Circuit Diagram NPN ■ Input ■ Output Pin No. Pin No. COM+ Output 1 5.6k Input 1 Output 2 5.6k Input 2 Output 3 5.6k Input 3 Output 4 5.6k Input 4 Output 5 5.6k Input 5 Output 6 5.6k Input 6 COM-...
Page 126 10.11 Circuit Diagram (PNP) MT1 Circuit Diagram PNP ■ Input ■ Output Pin No. Pin No. Input 1 5.6k COM+ Input 2 5.6k Output 1 Input 3 5.6k Output 2 Input 4 5.6k Output 3 Input 5 5.6k Output 4 Input 6 5.6k Output 5...
Page 127 MT2 Circuit Diagram PNP ■ Input ■ Output Pin No. Pin No. Input 1 5.6k COM+ Input 2 5.6k Output 1 Input 3 5.6k Output 2 Input 4 5.6k Output 3 Input 5 5.6k Output 4 Input 6 5.6k Output 5 Input 7 5.6k Output 6...
Page 128 Machine speciﬁcations may be modiﬁed without prior notice to improve quality. No part of this manual may be reproduced in any form, including photocopying, reprinting, or translation into another language, without the prior written consent of JANOME. © 2014–2021 Janome Sewing Machine Co., Ltd.

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