Janome JSR4400N SCARASeries Operation Manual

Janome JSR4400N SCARASeries Operation Manual

Desktop industrial robots
Table of Contents

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JANOME SCARA/GANTRY ROBOT
JS/JSR4400N/JSG Series
JANOME DESKTOP ROBOT
JR2000N Series
Operation Manual
Features II
(Variables/Commands/Functions)
Thank you for purchasing a Janome Robot.
Read this manual thoroughly in order to ensure proper use of this robot. Be
sure to read "For Your Safety" before you use the robot. The information will
help you protect yourself and others from possible dangers during operation.
After having read this manual, keep it in a handy place so that you or the
operator can refer to it whenever necessary.
This manual is written according to IEC 62079.

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Summary of Contents for Janome JSR4400N SCARASeries

  • Page 1 Operation Manual Features II (Variables/Commands/Functions) Thank you for purchasing a Janome Robot. Read this manual thoroughly in order to ensure proper use of this robot. Be sure to read “For Your Safety” before you use the robot. The information will help you protect yourself and others from possible dangers during operation.
  • Page 2: Table Of Contents

    CONTENTS Features II FOR YOUR SAFETY ______________________________________________________________ i PREFACE ____________________________________________________________________ xxi CONTENTS __________________________________________________________________ xxiii EXPRESSION STRUCTURE_______________________________________________________ 1 COMMAND LIST ________________________________________________________________ 3 VARIABLE LIST _________________________________________________________________ 8 FUNCTION LIST _______________________________________________________________ 11 SYSTEM FLAG LIST ____________________________________________________________ 14 VARIABLES ___________________________________________________________________ 18 Free Variables: #mv, #mkv, #nv, #nkv, #sv, #skv _____________________________________ 18 Input Variables: #sysIn1..., #genIn1..., #handIn1...
  • Page 3 ON/OFF OUTPUT CONTROL _____________________________________________________ 36 Output to I/O: set, reset, pulse, invPulse____________________________________________ 36 Output after X Seconds: delaySet, delayReset_______________________________________ 39 Sound a Buzzer: onoffBZ _______________________________________________________ 40 Blink the LED (Green): onoffGLED ________________________________________________ 41 Blink the LED (Red): onoffRLED__________________________________________________ 42 Output Values from I/O: dataOut, dataOutBCD ______________________________________ 43 Motor Power ON, Servo Motor ON and OFF: motorPowerON, servoON, servoOFF __________ 44 IF BRANCH, WAIT CONDITION ___________________________________________________ 45 if Branch: if, then, else, endIf_____________________________________________________ 45...
  • Page 4 Linear Movement in CP Drive by Point Job: lineMove, lineMoveStopIf_____________________ 79 Mechanical Initialization by Point Job: initMec _______________________________________ 81 Position Error Detection: checkPos________________________________________________ 82 LCD, 7SLED___________________________________________________________________ 83 Display the Specified Strings on the Teaching Pendant: clrLCD, clrLineLCD, outLCD, eoutLCD_ 83 Display the Desired Number on the 7SLED: sys7SLED, out7SLED_______________________ 84 COM INPUT/OUTPUT ___________________________________________________________ 85 COM Input/Output: outCOM, eoutCOM, inCOM, setWTCOM, cmpCOM, ecmpCOM, clrCOM,...
  • Page 5: Expression Structure

    EXPRESSION STRUCTURE Expression An expression is fixed numbers (string type and numeric type), variables, functions, and operators combined. Fixed Number There are two types of fixed numbers, numeric type (e.g. 125, 2.0, 2e15) and string type (e.g. "ABC"). Numeric type fixed numbers are handled as 8-byte real type (double type), and string type fixed numbers are handled as 255-byte.
  • Page 6 Function A function returns a converted value if values or strings are given. You can use the built-in functions (which are built into the robot as a function) and the user-defined functions (which can be freely defined by the user). The user-defined functions are defined in the Customizing mode.
  • Page 7: Command List

    COMMAND LIST If you assign point job data that includes any of the highlighted ( ) commands to a CP passing point, the commands will be ignored. Point Job Data Command Necessary Parameter Description Output Destination Output ON. reset Output Destination Output OFF.
  • Page 8 Command Necessary Parameter Description Boolean variable or Expression Input ON. Boolean variable or Expression Input OFF. Boolean variable or Expression Input serial ON. Boolean variable or Expression Input serial OFF. Boolean variable or Expression Input parallel ON. Boolean variable or Expression Input parallel OFF.
  • Page 9 Command Necessary Parameter Description Repeat commands between for and next until Variable Name, Initial Value, the specified variable changes from the initial End Value, Step Value value to the end value. next – exitFor – Break from for loop. – Repeat commands between do and loop.
  • Page 10 Command Necessary Parameter Description outCOM Input/Output, Output Data Output the string from the COM. Output the result of the string expression from eoutCOM Input/Output, Output Data the COM. Set [Wait Time] (time-out period) for receiving setWTCOM Input/Output, Wait Time data from the COM. Variable Name, Input/Output, Assign the receive data from the COM to the inCOM...
  • Page 11 Execute Condition Command Necessary Parameter Description Boolean variable or expression Input ON. Boolean variable or expression Input OFF. Boolean variable or expression Input serial ON. Boolean variable or expression Input serial OFF. Boolean variable or expression Input parallel ON. Boolean variable or expression Input parallel OFF.
  • Page 12: Variable List

    VARIABLE LIST You can use the built-in variables (which are built into the robot as a function), and the user-defined variables (which can be freely defined by the user). User-defined variables other than local variables (variables effective only in defined point job data which are defined by the declare command) are defined in the Customizing mode.
  • Page 13 Variables Category Type Identifier Description The assigned value will be decreased #downTimer1 – 10 automatically (by msec). Start a point job from a position above the Z- #jobStartHight coordinate determined by the assigned value. (Invalid in the CP drive) Start a point job from a position at a distance from the X-coordinate determined by the #jobStartX assigned value.
  • Page 14 Variables Category Type Identifier Description X-coordinate value of the point currently #point_X performed Y-coordinate value of the point currently #point_Y performed Current Z-coordinate value of the point currently Point #point_Z performed Coordinates R-coordinate value of the point currently #point_R performed Tag code value of the point currently #point_TagCode performed...
  • Page 15: Function List

    FUNCTION LIST You can use the built-in functions (which are built into the robot as a function) and the user-defined functions (which can be freely defined by the user). The user-defined functions are defined in the Customizing mode. (See the operation manual Features IV for details of the Customizing mode.) x, y: Numerical value or numerical variable n, m: Numeric value becomes larger than a certain value through rounding or truncation...
  • Page 16 x, y: Numerical value or numerical variable n, m: Numeric value becomes larger than a certain value through rounding or truncation a, b: String or string variable Category Type Identifier Description Absolute value abs (x) max (x,y) Maximum value min (x,y) Minimum value degrade (x) Conversion from degree to radian (x*π/180)
  • Page 17 x, y: Numerical value or numerical variable n, m: Numeric value becomes larger than a certain value through rounding or truncation a, b: String or string variable Category Type Identifier Description Regard a numeric value as a float to convert it to a 4-byte str4FBE (x) string using the Big Endian byte order.
  • Page 18: System Flag List

    SYSTEM FLAG LIST You can use the system flags as Boolean valuables. If conditions are met, “1” (true) is automatically assigned to a system flag. If conditions are not met, “0” (false) is assigned. You can refer to the assigned values whenever necessary. JR2000N Series Identifier Description...
  • Page 19 Identifier Description Condition “1” (True) #FstartSW Start switch ON (Pressed) #FincSW Program number selection key (+) ON (Pressed) #FdecSW Program number selection key (–) ON (Pressed) ON (The emergency stop #FemgSW EMG direct input switch is pressed.) #Fios I/O-S direct input Circuit open (Disconnected) #Fsensor1 Initial X position sensor...
  • Page 20 Identifier Description Condition “1” (True) Result of COM4 receive data compare command #FgtCOM4 Constant < Receive data (cmpCOM) COM4 receive data compare command #FtimeOutCOM4 Timeout (cmpCOM) timeout #FinitMecError State of mechanical initialization command error Mechanical initialization error #FcameraError State of camera data error Error #FtakeZError State of Z height data (takeZWadj) error...
  • Page 21 Identifier Description Condition “1” (True) #FisCOM3 COM3 receive data existence Exists Result of COM3 receive data compare command #FltCOM3 Constant > Receive data (cmpCOM) Result of COM3 receive data compare command #FeqCOM3 Constant = Receive data (cmpCOM) Result of COM3 receive data compare command #FgtCOM3 Constant <...
  • Page 22: Variables

    VARIABLES Free Variables: #mv, #mkv, #nv, #nkv, #sv, #skv A variable is a container into which numeric and strings values are placed. You can use the built-in variables listed below freely. Variable declaration is unnecessary when using these variables. Identifier Description #mv (1 –...
  • Page 23: Input Variables: #Sysin1

    Input Variables: #sysIn1..., #genIn1..., #handIn1... An input variable is a Boolean variable that can only be referred to. You cannot enter a value into it. It corresponds to the I/O-SYS, I/O-1, and I/O-H input pins. When an ON signal comes, the input variable becomes “1”...
  • Page 24: Output Variables: #Sysout1

    Output Variables: #sysOut1..., #genOut1..., #handOut1... An output variable is a Boolean variable. Output variables correspond to the I/O-SYS, I/O-1, and I/O-H output pins. When an ON signal is output, the output variables become “1” (true). Identifier Identifier Category (JR2000N and Connector Description (JS and JSG Series)
  • Page 25: Down Timer: #Downtimer1 - #Downtimer10

    Down Timer: #downTimer1 – #downTimer10 A numeric variable: The assigned value (using a let command) is decreased automatically (by msec). You can assign another value during the countdown. The maximum value that can be assigned is 2,147,483,647 (msec). Category Identifier Description Special #downTimer1 –...
  • Page 26: Point Job Start Height: #Jobstarthight

    Point Job Start Height: #jobStartHight When a value is assigned to the variable “#jobStartHight” (using a let command) and the variable is set as [Job before Moving] or [Job while Moving], the point job starts from a position that is higher than the set Z-coordinate by the assigned value.
  • Page 27: Pallet: #Palletflag (1 - 100), #Palletcount (1 - 100)

    Pallet: #palletFlag (1 – 100), #palletCount (1 – 100) #palletCount (1 – 100) is a numeric variable and #palletFlag (1 – 100) is a Boolean variable. Each variable retains the value of the corresponding pallet counter and pallet flag (1 (true) when the pallet counter is full) in additional function data [Pallet Routine].
  • Page 28 Point job data set to P1 set #handOut1 Pick up workpiece. Point job data set to P2 ld #palletCount(3) == 5 #palletCount (3) is or #palletCount(3) == 11 else other than 5 (P2-5) and 11 (P2-11), reset #handOut1 Place (release) a workpiece. endIf loopPallet 3,1 Add 1 to the counter of Pallet 3.
  • Page 29: Workpiece Adjustment: #Workadj_X, #Workadj_Y, #Workadj_Z, #Workadj_R, #Workadj_Rotation

    Workpiece Adjustment: #workAdj_X, #workAdj_Y, #workAdj_Z, #workAdj_R, #workAdj_Rotation These numeric variables hold the adjustment amount and rotation adjustment amount of each Axis in additional function data [Workpiece Adjustment]. Category Identifier Description Workpiece adjustment amount in the X direction #workAdj_X (1 – 100) (Corresponds to Workpiece Adjustment 1 –...
  • Page 30 Point job data set in P2 ([Workpiece Adjustment] is set to this point.) set #handOut1 Start dispensing. Point job data set in P3 reset #handOut1 Stop dispensing. The [Workpiece Adjustment] set to a [CP Start Point] point is activated until the tool unit reaches a [CP End Point] point.
  • Page 31: Point Coordinates: #Point_X,#Point_Y,#Point_Z, #Point_R,#Point_Tagcode

    Point Coordinates: #point_X,#point_Y,#point_Z, #point_R,#point_TagCode These variables hold the coordinates and tag code values of the running point. A running point is the point to which point job data including this variable is set. When point job data including this variable is set to [Job before Moving], [Job while Moving], or [Job while CP Moving], the current tool center point position is different from the value in this variable.
  • Page 32: Designated Point Coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_Tagcode

    Designated Point Coordinates: #P_X, #P_Y, #P_Z, #P_R, #P_TagCode These variables hold the coordinates and tag code values of the designated point in the current program. These variables hold the original coordinate values of a point. The values do not change even when additional function data [Workpiece Adjustment] and the variable #jobStartHight are used.
  • Page 33: Designated Point Coordinates In Designated Programs: #Prog_P_X, #Prog_P_Y, #Prog_P_Z

    Designated Point Coordinates in Designated Programs: #prog_P_X, #prog_P_Y, #prog_P_Z, #prog_P_R, #prog_P_TagCode These variables hold the coordinates and tag code values of the designated point in the designated program. These variables hold the original coordinate values of a point. The values do not change even when the additional function data [Workpiece Adjustment] and the variable #jobStartHight are used.
  • Page 34: Functions

    FUNCTIONS Robot System Functions You can use the built-in variables (which are built into the robot system) and the user-defined variables (which can be freely defined by the user). The user-defined variables other than local variables (variables effective only in defined point job data which are defined by the declare command) are defined in the Customizing mode.
  • Page 35 • currentMainProgNumber() This variable holds the currently performed main program number. • currentSubProgNumber() This variable holds the currently performed subprogram number. When a subprogram is not being performed, it holds the currently performed main program number. • currentPointNumber() This variable holds the currently performed point number. The point number of the work home position is 0.
  • Page 36 • strPlusRLCD(string a, string b) This variable adjusts the strings on the teaching pendant LCD (right priority). Items on the right are displayed in full if there is an overlap. • strPlusLLCD(string a, string b) This variable adjusts the strings on the teaching pendant LCD (left priority). Items on the left are displayed in full if there is an overlap.
  • Page 37: Arithmetic System Functions

    Arithmetic System Functions The following built-in arithmetic functions can be used: x, y : Numeric value n, m : Rounded integer value Type Identifier Description Absolute value abs (x) max (x,y) Maximum value min (x,y) Minimum value degrade (x) Conversion from degree to radian (x*π/180) raddeg (x) Conversion from radian to degree (x*180/π) sqrt (x)
  • Page 38: String System Functions

    String System Functions The following string built-in functions can be used: x, y: Numerical value or numerical variable n, m: Numeric value becomes larger than a certain value through rounding or truncation a, b: String or string variable Type Identifier Description Return a string (1 character) with the given character code.
  • Page 39 x, y: Numerical value or numerical variable n, m: Numeric value becomes larger than a certain value through rounding or truncation a, b: String or string variable Type Identifier Description Regard a string as a hexadecimal string (sequence of “0” – “1”, “A” – valHex (a) “F”, or “a”...
  • Page 40: On/Off Output Control

    ON/OFF OUTPUT CONTROL Output to I/O: set, reset, pulse, invPulse This section explains the commands to be output to the tool unit (I/O). These commands belong to the [ON/OFF Output Control] command category. Command Category Command Parameter Output ON to a designated output Output Destination destination.
  • Page 41 Accordingly, • The hand tool opens. Turn off #sysOut15 and on #sysOut16. • The hand tool closes. Turn on #sysOut15 and off #sysOut16. The output commands to open and close the hand tool are as follows: reset #sysOut15 Output #sysOut15 OFF. Open the hand tool.
  • Page 42 The pulse and invPulse commands move on to the next command before completing output. For example, the following two kinds of point job data have different results: pulse #genOut1 100 set #genOut1 delay 100 reset #genOut1 pulse #genOut2 200 set #genOut2 delay 200 reset #genOut2 set #genOut3...
  • Page 43: Output After X Seconds: Delayset, Delayreset

    Output after X Seconds: delaySet, delayReset The delaySet and delayReset commands are used to output ON/OFF signals to a designated output destination after a designated time. The delay time can be set 0.001sec – 9999.999sec. Command Category Command Parameter Output ON output after specified delay delaySet Delay Time...
  • Page 44: Sound A Buzzer: Onoffbz

    Sound a Buzzer: onoffBZ You can sound a buzzer using a point job command. Command Category Command Parameter Output Destination (BZ) Sound a buzzer. ON/OFF Output Control reset Output Destination (BZ) Stop a buzzer. onoffBZ ON Time, OFF Time Sound and stop a buzzer. If the set or onoffBZ commands are executed, the buzzer continues to sound until the reset command is executed.
  • Page 45: Blink The Led (Green): Onoffgled

    Blink the LED (Green): onoffGLED The commands below are available only for the JR2000N and JSR4400N Series. The JS and JSG Series are not equipped with these commands. You can turn on and off, or blink the LED light on the front body (JR2000N) or the operation box (JSR4400N) using a point job command.
  • Page 46: Blink The Led (Red): Onoffrled

    Blink the LED (Red): onoffRLED The commands below are available only for the JR2000N and JSR4400N Series. The JS and JSG Series are not equipped with these commands. You can turn on and off, or blink the LED light on the front body (JR2000N) or the operation box (JSR4400N) using a point job command.
  • Page 47: Output Values From I/O: Dataout, Dataoutbcd

    ■ Output Values from I/O: dataOut, dataOutBCD Any numeric values 1 – 999,999,999 or tag codes can be output to the I/O or the Boolean free variables #mv (1 – 99) and #mkv (1 – 99). Command Category Command Parameter Output Output Output Bit...
  • Page 48: Motor Power On, Servo Motor On And Off: Motorpoweron, Servoon, Servooff

    ■ Motor Power ON, Servo Motor ON and OFF: motorPowerON, servoON, servoOFF The commands below are available only for the JS and JSGN Series. The JR2000N Series is not equipped with these commands. The JSR4400N Series is equipped with only motorPowerON. You can turn on the power to the robot’s motor or turn on and off the designated Axis servomotor by using a point job command.
  • Page 49: If Branch, Wait Condition

    IF BRANCH, WAIT CONDITION if Branch: if, then, else, endIf This section explains the point job data commands for performing different jobs according to conditions. These belong to the [if Branch, Wait Condition] command category. Command Category Command Parameter – if Branch then –...
  • Page 50 Example 2 Label 1 If both #genIn1 and #genIn2 are on, sound a buzzer and stand by until the start instructions come. If both #genIn1 and #genIn2 are not on, #genIn1 advance to the next job. #genIn2 Sound the alarm and stand by for start.
  • Page 51: Wait Condition: Waitcond, Waitcondtime, Timeup, Endwait

    Wait Condition: waitCond, waitCondTime, timeUp, endWait This section explains the point job data commands for waiting until the sensor (connected to #genIn2) is turned on. These commands belong to the category [Wait Condition]. Command Category Command Parameter waitCondTime Wait Time Wait the condition for a set period.
  • Page 52 endWait and timeUp cannot be used alone. For waitCondTime, the wait time can be set using variables and expressions. Example: declare num wtime Declare a local variable wtime. ld #genIn3 #genIn3=ON then then wtime = 3000 Assign 3000 to wtime. else If not wtime = 1000...
  • Page 53: Condition

    CONDITION ■ Condition Settings: ld, ldi, and, ani, or, ori, anb, orb This chapter explains the conditional operation commands that come after if Branch and Wait Condition commands (if, waitCond, waitCondTime). The command category is [Condition]. Command Category Command Parameter Boolean variable or expression ON input Boolean variable or expression...
  • Page 54 ■ ld: ON input waitCond Wait in place until the following condition is met: ld #genIn2 #genIn2=ON (Condition) endWait End of condition line ■ ldi: OFF input waitCond Wait in place until the following condition is met: ldi #genIn2 #genIn2=OFF (Condition) endWait End of condition line ■...
  • Page 55 ■ anb: Block serial connection waitCond Wait in place until the following conditions are met: ld count>=10 Count is 10 or greater Condition 1 or flag or flag is ON ldi #genIn1 #genIn1 is OFF Condition 2 ani #genIn2 and #genIn2 is also OFF Both Conditions 1 and 2 are true, endWait End of condition line...
  • Page 56: Delay, Data In, Wait Start

    DELAY, DATA IN, WAIT START ■ Time Delay: delay This section explains the point job data command for controlling time delay. Command Category Command Parameter Delay, Data In, delay Delay Time Stand by in place for the specified delay time. Wait Start The delay command is deactivated at points where the (base) point type [CP Passing Point] is set.
  • Page 57 The delay time can be set using variables or expressions as well as numeric values. Example: declare num wtime Declare the local variable wtime. ld #genIn1 #genIn1=ON then then wtime = 100 Assign 100 to wtime. else If not wtime = 200 Assign 200 to wtime.
  • Page 58: Waiting For A Start Signal: Waitstart, Waitstartbz

    ■ Waiting for a Start Signal: waitStart, waitStartBZ This section explains the point job data commands to stop the robot until a start signal comes. Command Category Command Parameter waitStart – Stand by in place until a start signal comes. Delay, Data In, Stand by in place while sounding a buzzer until Wait Start...
  • Page 59 If the waitCondTime, timeUp … endWait and if … endIf commands are combined, the command lines are indented as shown below. waitCondTime 200 ld #genIn2 Be sure not to use more than 9 indents. timeUp set genOut2 If the point job data includes more than 9 indents, it will be recognized as an error and the error message [Error on ld #genIn1 Point Job] will be displayed.
  • Page 60: Input From I/O: Datain, Datainbcd

    ■ Input from I/O: dataIn, dataInBCD Read out a numeric value from I/O or Boolean variables #mv (1 – 99) or #mkv (1 – 99) and assign it to the specified variable. Command Command Parameter Category Numeric Read out numeric data Delay, dataIn Input Source...
  • Page 61: Pallet Control

    PALLET CONTROL ■ Pallet Command: loopPallet, resPallet, incPallet There are two types of additional function data [Pallet Routine]: One is [Auto Increment], which increases the counter automatically (the tool unit will move to the next point on the pallet sequentially). The other is [Increment by Point Job], which will not increase the counter (that is, the tool unit will not move to the next position on the pallet) unless you set the point job data to update the counter.
  • Page 62 On the [Increment by Point Job] pallet, the tool unit can move randomly, as shown on the previous page. For example, the tool unit returns to P1 each time before it moves to the next point. (P1 (P2-1) P2-2 P2-3…) The following three commands are used for [Increment by Point Job]: Command Category Command...
  • Page 63 If the incPallet command (Add 1 to the specified pallet counter) is used instead of the loopPallet command, the pallet control command will be as follows: e.g. incPallet is used instead of loopPallet. reset #genOut1 Release (Place) the workpiece. incPallet 10 Add 1 to the counter of Pallet No.
  • Page 64: Execution Flow Control

    EXECUTION FLOW CONTROL ■ Subroutine Call for Jobs according to Point Types: callBase If you set point job data to a point where the user-defined point type created in the Customizing mode is already set, the point job set under the user-defined point type will not be performed. For example, If you add a new point job to a point where the point type [Wait Start Point] is already set, the job originally set to the point will be ignored (the tool unit does not stand by until the start switch is pressed or a start signal comes on at the [Wait Start Point]) and the newly added job will be performed...
  • Page 65 In this case, if you execute the callBase command in a newly added job, the original job set under the user-defined point type can be called as a subroutine and be performed. For the example on the previous page, if you execute the callBase command in Point Job Data 7, the original job set under the user-defined point type can be called as a subroutine when a new point job is performed at P1.
  • Page 66: Subroutine Call For Point Job Data: Calljob

    ■ Subroutine Call for Point Job Data: callJob While performing a point job, another point job data can be called and executed as a subroutine. A point job can be clearer and easier if you create a specific job common to multiple point job data sets (e.g. error handling) as a point job data set and call it when necessary.
  • Page 67 When the point job data called by the callJob command contains a callJob command, an error (No. 042: [Job for callJob doesn't exist]) is returned if the nest level exceeds Level 10. (The following example shows the nest level 2.) Command Execution Flow callJob callJob...
  • Page 68: End The Point Job: Returnjob

    ■ End the Point Job: returnJob If a condition in the point job data is complex and there is no process to meet the condition, the point job can be ended by the returnJob command. Command Category Command Parameter Execute Flow Control returnJob –...
  • Page 69: Subroutine Call For A Program: Callprog

    ■ Subroutine Call for a Program: callProg While performing a point job, another program can be called and executed as a subroutine. Command Category Command Parameter Call the specified program number as a Execute Flow Control callProg Program Number subroutine. The callProg command is deactivated at points where the (base) point type [CP Passing Point] is set.
  • Page 70 Program numbers can also be given using expressions. Example: declare num eprg Declare a local variable eprg. waitCondTime 200 Wait for 0.2 seconds until the following condition is met: ld #genIn1 #genIn1=ON (Condition) timeUp If the condition is not met within 0.2 seconds, ld #genIn2 #genIn2=ON then...
  • Page 71 Example: The subprogram is set to [Absolute]. The tool unit runs on the coordinates of point data of the called point regardless of the position of the calling point. At the current point (calling point), the tool unit performs the [Job on Start of Cycle] (set to the work home position of the subprogram, and then shifts to SP1 (Subprogram Point 1).
  • Page 72 Depending on the position data settings, the next point coordinates vary even if the position data values are the same. (See below) Position Data Value (0,0) (15,20) (10,20) (5,10) Absolute (10,10) (0,0) (15,20) (10,20) (5,10) Fixed robot coordinates Relative (10,10) (10,10) (25,30) (20,30)
  • Page 73: Subroutine Call For A Point String: Callpoints

    ■ Subroutine Call for a Point String: callPoints A point string (also referred to as an array of points or series of points, defined in the Customizing mode) with an identifier can be called and executed as a subroutine. Command Category Command Parameter Call the specified point string as...
  • Page 74: End A Program: Endprog

    ■ End a Program: endProg A program (operation) can be terminated at the current point by the endProg command. The robot Arm or Axis will not return to the work home position Command Category Command Parameter Execute Flow Control endProg –...
  • Page 75: Assigning The Returned Value Of A Function: Returnfunc

    ■ Assigning the Returned Value of a Function: returnFunc Assign the value of the specified expression as a returned value and end the function. Command Category Command Parameter Return Value Assign the specified expression as a return Execute Flow Control returnFunc (Expression) value and end the function.
  • Page 76: Jump To The Specified Point: Gopoint, Gorpoint, Gocrpoint

    ■ Jump to the Specified Point: goPoint, goRPoint, goCRPoint The following explains how to jump to a specified point after carrying out a point job instead of going to the next point. Command Category Command Parameter PTP Condition Number, goPoint Jump to the specified point.
  • Page 77 Example [goPoint PTP3,25]: Jump to Point 25 (according to PTP Condition 03). If you set [0] as the [PTP Condition Number], the tool unit will move according to the program data [PTP Condition]. If you set [0] as the [Point Number], the tool unit will return to the work home position.
  • Page 78: Jumping To A Specified Command Line: Jump, Label

    ■ Jumping to a Specified Command Line: jump, Label Command Category Command Parameter jump Label Number Jump to the specified label number. Execute Flow Control Label Label Number Destination mark for the jump command Example If #genIn2 is ON, sound the buzzer and Label 1 stand by until a start signal comes.
  • Page 79: For, Do-Loop

    FOR, DO-LOOP for, do-loop: for, next, exitFor, do, loop, exitDo ■ Command Category Command Parameter Variable Name, Initial Value, Repeats commands between for and next End Value, until the specified variable changes from the initial value to the end value. Step Value next –...
  • Page 80 The for command parameters: initial value, end value and step value, can be given using variables or expressions. declare num loop Declare a local variable loop. declare num ival Declare a local variable ival. ld #genIn1 #genIn1=ON then then loop = 5 Assign 5 to loop.
  • Page 81: Move

    MOVE ■ Move the Z-Axis Alone: upZ, downZ, movetoZ Only the Z-Axis can be raised or lowered using point job data. These commands belong to the [Move] command category. Command Category Command Parameter Raise only the Z-Axis by the specified Distance, Speed distance.
  • Page 82 The distance and speed can be given by variables and expressions. waitCond Wait in place until the following condition is met: ld #genIn2 #genIn2=ON (Condition) endWait End of condition downZ #P_Z(1)-#point_Z,20 Lower or raise only the Z-Axis at 20mm/sec by a distance calculated by deducting the Z-coordinates of the current point from the Z-coordinates of P1.
  • Page 83: Linear Movement In Cp Drive By Point Job: Linemove, Linemovestopif

    ■ Linear Movement in CP Drive by Point Job: lineMove, lineMoveStopIf The robot Axis or Arm can move linearly in the CP drive using point job data commands. The moving speed (referred to as CP speed) and the moving amount in each Axis direction can be set. The CP drive can be terminated in the middle of the movement by setting conditions.
  • Page 84 ■ How to Stop the Movement in the Middle of the CP Drive using Conditions Example: lineMoveSpeed 3 lineMoveX 20 lineMoveY 0 lineMoveZ 0 lineMoveR 0 lineMoveStopIf ld #sysIn1 Condition to stop in the middle of the movement endLineMove If #sysIn1 comes on, the robot Axis stops moving and goes to the next callJob11 command (callJob11), even before the Z-Axis moves 20mm in the plus direction.
  • Page 85: Mechanical Initialization By Point Job: Initmec

    ■ Mechanical Initialization by Point Job: initMec The command explained below is available for the JR2000N and JSR4400N Series only. It is not available for the JS and JSG Series. If you are using the JSR4400N Series, this command is activated only when [Axis] (specifications) is set to [ALL] (all Axes).
  • Page 86: Position Error Detection: Checkpos

    ■ Position Error Detection: checkPos The command explained below is available for the JR2000N Series only. It is not available for the JSR4400N, JS, and JSG Series. Position errors can be detected using point job commands. When the checkPos command is executed, the robot Axis goes to the absolute coordinates (x:0, y:0, z:0, r:0), regardless of the current position coordinates.
  • Page 87: Lcd, 7Sled

    LCD, 7SLED ■ Display the Specified Strings on the Teaching Pendant: clrLCD, clrLineLCD, outLCD, eoutLCD The following explains how to display/not display entered items on the teaching pendant LCD. Command Category Command Parameter clrLCD – Clear the LCD display. clrLineLCD Clear Line Clear the specified line on the LCD display.
  • Page 88: Display The Desired Number On The 7Sled: Sys7Sled, Out7Sled

    ■ Display the Desired Number on the 7SLED: sys7SLED, out7SLED The command explained below is available for the JR2000N and JSR4400N Series only. It is not available for the JS and JSG Series. Using the out7SLED command, you can display the desired number on the 7-segment LED (program number display) on the front of the robot (JR2000N) or the operation box (JSR4400N).
  • Page 89: Com Input/Output

    COM INPUT/OUTPUT ■ COM Input/Output: outCOM, eoutCOM, inCOM, setWTCOM, cmpCOM, ecmpCOM, clrCOM, shiftCOM By point job data commands, data can be input or output from COM. Command Category Command Parameter outCOM Input/Output, Output Data Output a character string from COM. Output an evaluation of the string eoutCOM Input/Output, Output Data...
  • Page 90 For the eoutCOM command, characters can be specified in hexadecimal code using the % symbol (See e.g.3) However, if any character other than 0 – 9, A – F, or % comes after the % symbol, the % symbol is output as a character. (See e.g.4) If you wish to output the % symbol as a character when any of w0 –...
  • Page 91 *: If point job data including the cmpCOM or cmpCOM(1) ecmpCOM command is set at a [CP Passing Point], the robot stands by for 0sec to receive X = 1 data. Timeout Wait Time* (Timeout period) Received Turn sysFlag(5) on. Specified Receive ≠...
  • Page 92 ■ COM Receive Wait Time Settings: setWTCOM You can set the wait time (timeout period) for receiving data for the cmpCOM or ecmpCOM commands. If no data is received within the specified wait time, it will time out and the corresponding system flag will be turned on.
  • Page 93: Pc Communication: Stoppc, Startpc

    ■ PC Communication: stopPC, startPC ■ Stopping and Starting COM1 Communication: stopPC, startPC COM1 is normally used to communicate with a PC. If you wish to connect COM1 to devices to control the robot using point job commands, instead of communicating with a PC (for C & T data transmission), it is necessary to stop the PC communication transaction operated by the system.
  • Page 94: Variable, Comment, System Control

    VARIABLE, COMMENT, SYSTEM CONTROL ■ Variable Declaration and Assignment: declare, let A variable that is activated only in point job data containing a declare command and a user-defined function (defined in the Customizing mode) is referred to as a local variable. When a local variable is declared, it is necessary to set the variable type and the identifier.
  • Page 95 Both of the following point job data items use a local variable count, but the two variables do not interfere with each other since a local variable is activated only in point job data containing a declare command. For example, if 0 is assigned to the variable count in point job data 24 (or 05), the value of the variable count in point job data 05 (or 24) will not change.
  • Page 96: Comment Insertion: Rem, Crem

    ■ Comment Insertion: rem, crem You can add comments to point job data and sequencer data commands. Command Category Command Parameters Variable, Comment, Output Data 1 line comment System Control crem Output Data End-of-line comment e.g. ld #genIn1 #genIn1 is true, rem #genIn1: Obstacle sensor (#genIn1: Obstacle sensor): Comment then...
  • Page 97: Change A Program Number By Point Job: Setprognum

    ■ Change a Program Number by Point Job: setProgNum The program number being selected can be changed using point job data commands. This function is useful in the following cases: • If you set a setProgNum command to the point job data performed when the power is turned on, the same program number will always be activated every time the power is turned on.
  • Page 98: Change A Sequencer Number By Point Job: Setseqnum

    ■ Change a Sequencer Number by Point Job: setSeqNum The selected sequencer number can be changed using point job data commands. A complicated sequencer data set cannot be created because the number of commands for sequencer data is limited to up to 100 steps. However, you can create multiple sets of sequencer data that are performed such as when the power is turned on, the robot is standing by or running programs, and change the number using the setSeqNum command.
  • Page 99 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. ©2009, JANOME Sewing Machine Co., Ltd., All rights reserved. 970803108 as of 2007-09 8 January 2009...

This manual is also suitable for:

Js4400n scara seriesJsg gantry seriesJr2000n series

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