Janome JR3000 Series Operation Manual
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Janome JR3000 Series Operation Manual

Janome JR3000 Series Operation Manual

Desktop robot teaching pendant operation
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JANOME DESKTOP ROBOT
JR3000 Series
Operation Manual
Teaching Pendant Operation
Thank you for purchasing this Janome Robot.
Before using your robot, please 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.
After reading this manual, store in a safe place that can be
easily accessed at any time by the operator.
This manual is written according to IEC 62079.

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  • Page 1 JR3000 Series Operation Manual Teaching Pendant Operation Thank you for purchasing this Janome Robot. Before using your robot, please 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 The Janome Desktop Robot JR3000 Series are new, low-cost, high-performance robots. With these robots we succeeded in reducing the price while maintaining functionality. The combined use of stepping motors and specialized micro step driving circuits saves both energy and installation space.
  • Page 3 To make full use of the machine’s functions and capabilities, make sure that you use the robot according to the correct handling/operation procedures Attention that are written in the manuals listed on the previous page. Do not handle or operate the robot in ways not covered in these manuals. If you turn OFF the power after making changes to the robot’s settings or data without saving, those changes are lost and the robot will revert to its Attention...

  • Page 4: Table Of Contents

    CONTENTS PREFACE ..............................1 CONTENTS............................. 3 FOR YOUR SAFETY ..........................6 1. TEACHING PENDANT (OPTIONAL) ....................11 1.1 Part Names ........................... 11 1.2 Teaching Pendant Operation Panel Keys ................... 12 2. CHANGING MODES ( MODE Key) ....................14 3. BASIC KEY OPERATIONS ....................... 15 3.1 Base Screen ..........................
  • Page 5 4.2.2 Test Run ..........................49 4.2.3 IO Connection Test ........................ 50 4.2.4 Test Run (Check IO)......................51 4.2.5 IO Test (Fieldbus) ........................52 4.2.6 Test Run (Fieldbus Check IO) ....................52 4.2.7 Check IO (Fieldbus) ......................53 4.3 MEMORY Port ..........................54 4.3.1 Teaching Data Backup ......................
  • Page 6 8.8 Teaching Data Copy, Delete, Conversion ..................92 8.8.1 Program List .......................... 92 8.8.2 Copy ............................93 8.8.3 Copy (Multiple) ........................95 8.8.4 Delete ............................ 97 8.8.5 Delete (Multiple) ........................98 8.8.6 Change Program Number....................100 8.8.7 Delete All ..........................101 8.8.8 Delete All Teaching Data .....................

  • Page 7: 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 8 FOR YOUR SAFETY Danger Do not use where flammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions and fire. Warning Make sure that you securely install the unit in a place that can fully withstand both the unit’s weight and its usage.
  • Page 9 FOR YOUR SAFETY Warning Always make sure the unit is grounded. Do not use when the unit is not grounded. Improper grounding causes electric shocks and fires. Wipe the power plug with a clean, dry cloth periodically to eliminate dust. Dust accumulation deteriorates the electrical insulation and causes fires.
  • Page 10 FOR YOUR SAFETY Caution Do not drop or jar the unit during transport and/or installation. This causes injuries or damages 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 –...
  • Page 11 FOR YOUR SAFETY Caution When attaching tools (such as a screwdriver unit etc.), 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.

  • Page 12: Teaching Pendant (Optional)

    1. TEACHING PENDANT (OPTIONAL) 1.1 Part Names LCD Display Operation Panel Emergency Stop Switch (Optional) The LEDs on the teaching pendant light up according to the robot’s status. However, when running or test running points in Teaching Mode, both the TEACH and RUN LEDs light up.

  • Page 13: Teaching Pendant Operation Panel Keys

    Do not insert or remove the teaching pendant when the power to the robot is ON. Doing so can cause breakdown and/or malfunction. Attention Also, only connect a teaching pendant with/without options to compatible robots. Failure to do can cause unit breakdown. 1.2 Teaching Pendant Operation Panel Keys Name Function...
  • Page 14 Name Function X+ Directional Key Moves the X axis in the + direction. X- Directional Key Moves the X axis in the - direction. Y+ Directional Key Moves the Y axis in the + direction. Y- Directional Key Moves the Y axis in the - direction. Z- Directional Key Moves the Z axis in the - direction.

  • Page 15: Changing Modes ( Mode Key)

    2. CHANGING MODES ( MODE Key) To change modes, carry out one of the following operations at the base screen of any mode: MODE key: ···························· The mode menu is displayed (diagram below) Select the mode you want to change to. SHIFT + MODE keys: ··········...

  • Page 16: Basic Key Operations

    3. BASIC KEY OPERATIONS This section explains the basic teaching pendant key operations. 3.1 Base Screen The base screen is the screen which appears immediately after starting up any robot mode (except when there is no teaching data in a program). 3.1.1 External Run Mode/Switch Run Mode The selected program number.

  • Page 17: Teaching Mode

    MODE ··································· Displays the mode selection menu. SHIFT + MODE ·················· Push these keys to switch modes in the following order: Teaching Mode Switch Run Mode External Run Mode Teaching Mode MENU ··································· Displays the Run Mode menu. UTILITY ································· Displays the teaching environment settings menu. CTRL + UTILITY ·················...
  • Page 18 MODE ··································· Displays the mode selection menu. SHIFT + MODE ·················· Push these keys to switch modes in the following order: Teaching Mode Switch Run Mode External Run Mode Teaching Mode MENU ··································· Displays the Teaching Mode menu. UTILITY ································· Displays the utility menu. SHIFT + UTILITY ················...
  • Page 19 F4 (P.EXEC) ·························· Runs the current point, and the screen changes to the settings display for the next point. If the current point is the last point in the program, the work home settings screen appears. However, if the point currently displayed is a CP start point, the robot runs continuously from the CP start point through to the CP end point.
  • Page 20 SHIFT + CURSOR ··········· This highlights the item on the bottom of the last page. This key combination is invalid if the item on the bottom of the last page is already highlighted or if there is only 1 page. ENTR ····································...

  • Page 21: Customizing Mode

    3.1.3 Customizing Mode Customizing Mode Teaching Mode Customizing NOTE Account The screen shown to the left is the Customizing Point Type Definition Mode menu after login. Variable Definition User Function Definition Alias Definition Additional Function Data Settings Point Job Settings PLC Settings Data Copy, Delete Base Screen Example: Customizing Mode...

  • Page 22: Administration

    3.1.4 Administration Diagnostic Mode and Mechanical Adjustment Mode are for Caution maintenance technicians only. Administration Administration Settings Mode Diagnostic Mode Mechanical Adjustment Mode Version Information Error History MODE ··································· Displays the mode selection menu. SHIFT + MODE ·················· Press these keys at the Administration Mode base screen to switch modes in the following order: Switch Run Mode External Run Mode...

  • Page 23: Selection

    3.2 Selection Screens such as menu and confirmation IO-SYS Function Assignment sysIn1 Start screens are classified as selection screens. sysIn2 Free “Select” means to highlight an item and set it sysIn3 Program Number Load (by pressing the ENTR key.) sysIn4 Program Number 1 sysIn5 Program Number 2...
  • Page 24 ENTR ···································· Sets the highlighted item, displays the settings screen, or displays the related menu for that item. If you enter a new point in Teaching Mode, the entry screen or selection screen for the settings of the next item for that point data appears. (For example, if you set the point type to [CP Start Point], the [Line Speed] entry screen appears next.) If there are no more items to set, the new position entry screen for the next point appears.

  • Page 25: Entering Numbers

    3.3 Entering Numbers The cursor blinks on a character or number. XYZR Offset NOTE The following key operations do not apply to the Enter a number entry of position coordinates using numerical keys. In this situation, refer to “3.5.4 MDI Mode” X Offset 0.25mm in “3.5 Position Entry”.
  • Page 26 0 – 9 ································· Overwrites the number under the cursor with the number you press. If the cursor is hidden, the digits move one place to the left and the number pressed is entered as the last digit. . ··········································· Enters a decimal point. This key is invalid if the number already contains a decimal point or no decimal fraction is possible.

  • Page 27: Entering Characters And Expressions

    3.4 Entering Characters and Expressions You can attach names to registered programs and point job data, etc. Below is the method for operating the character entry screen for entering names. This input method also applies when entering command line expressions for point job data, etc. The screen to the right is displayed when Wait Time entering characters.
  • Page 28 F4 ········································· Each time this key is pressed, the character assignment type changes in the following order: Roman uppercase Roman lowercase numbers symbols operators Roman uppercase However, when entering names, the operators assignment list does not appear, and when entering variables, the operator and symbol assignment lists do not appear.
  • Page 29 CURSOR ···························· Moves the cursor upward (in the character string). CURSOR ···························· Moves the cursor downward (in the character string). CURSOR ···························· Moves the cursor to the left (in the character string). CURSOR ···························· Moves the cursor to the right (in the character string). SHIFT + CURSOR ···········...

  • Page 30: Position Entry

    3.5 Position Entry Position Entry Screen Example Program 1 Point coordinates 0deg FUNC INIT The mode currently selected is highlighted. F0 (FUNC) ····························· This changes the functions of F1 – F4 (To change the functions a manual job number is required) F2 (JOG) ·······························...

  • Page 31: Manual Job

    3.5.1 Manual Job If you set point job numbers to [F1 Key Job Number] – [F12 Key Job Number], you can execute the point job data for the designated numbers on the position entry screen in Teaching Mode. Note however, you cannot use these unless you switchover the functions with the F0 (FUNC) key . Each time the F0 (FUNC) key is pressed on the position entry screen, the F1 , F2 , F3 , and F4 key functions change as follows.

  • Page 32: Copying Point Coordinates

    3.5.2 Copying Point Coordinates With this you can copy coordinates of an existing point. This function is convenient in situations such as these: • When entering [Position Setting] in the [2-Points Position Conversion] menu. • When entering [Robot Coordinate Position] with camera adjustment calibration. Press the F3 key while pressing the SHIFT key on the position entry screen.
  • Page 33 X - ········································ Moves the X axis in the X- direction. X+ ········································ Moves the X axis in the X+ direction. Y - ········································ Moves the Y axis in the Y- direction. Y+ ········································ Moves the Y axis in the Y+ direction. Z - ········································...
  • Page 34 F4 (INIT) ······························· Performs mechanical initialization and moves all axes to their absolute coordinates (0, 0).* *If you have changed the functions of the F1 – F4 keys by pressing the F0 key, the point jobs assigned to the keys are performed instead. (Manual job) SHIFT + UTILITY ················...
  • Page 35 JR3000 Coordinate System (This is a sample diagram of the JR3204) Y = 0 Y Axis Z = 0 Z Axis X = 0 X Axis R Axis Teaching Pendant Operation Desktop Robot JR3000...

  • Page 36: Mdi Mode

    3.5.4 MDI Mode In MDI Mode, you can enter the coordinate values using the numeric keys. The axes do not move only by entering numerical values. The axes move by pushing the GO key. Program 1 You can enter a value for the item >...
  • Page 37 F3 ········································· Each time this key is pressed, the cursor line (indicated by “>”) switches in the following order: X CURSOR ···························· Moves the cursor one place to the left. This key is invalid if the cursor is on the lowest digit. If the cursor is hidden, press this key to display the cursor on the rightmost digit.
  • Page 38 SHIFT + UTILITY ················ Displays the settings screen for the tool during teaching. UTILITY ································· Displays the teaching environment settings menu. SHIFT + F3 ························ Copies the designated point number coordinate values. CTRL + UTILITY ················· Displays the language settings. NOTE •...

  • Page 39: Utility

    4. UTILITY 4.1 Teaching Environment Settings The environment settings include the following parameters. Press the UTILITY key in the Teaching Mode to display the parameters. The three parameters: Screen Contrast, Unit of Measurement, and Display Language, can also be selected in Run Mode, Customizing Mode, and Administration Mode by pressing the UTILITY key.

  • Page 40: Screen Contrast

    4.1.1 Screen Contrast Here you can adjust the brightness of the teaching pendant LCD. UTILITY [Teaching Environment] Screen Contrast [Screen Contrast] CURSOR key: Darker CURSOR key: Brighter ENTR key: Sets the selection Use the ENTR key to select/set selections for all of the items explained hereafter. 4.1.2 Changing the Unit of Measurement You can select the unit of length displayed on the teaching pendant LCD.

  • Page 41: Go Function

    4.1.4 GO Function The axes move to the coordinates displayed on the teaching pendant LCD when the GO key is pressed while teaching using MDI Mode. Here you can set the moving conditions for the axes. However, you cannot switch to CP movement. UTILITY [Teaching Environment Settings] [GO Function] [PTP Speed]...

  • Page 42: Jog Function

    GO Key Movement Arch Trajectory Horizontal Move Pos'n Start Horizontal Start Down Pos'n Z Move Height Z Up Distance Z Down Distance Point 2 Height Point 1 4.1.5 JOG Function You can select the speed and distance (step) at which the axes move during teaching in JOG Mode. UTILITY [Teaching Environment Settings] [JOG Function] Select the item for which you want to specify...

  • Page 43: Tool For Teaching

    4.1.6 Tool for Teaching Use this function when teaching points using a tool different from the one being used during a run. If the [Tool for Teaching] is set to [Valid], the tool data set in the [Setting Tool for Teaching] is enabled only in the Teaching Mode.
  • Page 44 FUNC JOG MDI INIT FUNC F9 F11 F12 Key* FUNC F1 F4 Key* FUNC F5 F8 Key* *The screen shows the point job numbers set to each key. Example: 003 = Point job number 3 Select the key to where you want to set point Manual Job Number Setting F1 Key Job Number job data.

  • Page 45: Key Click

    NOTE • If the point job number is set as “0”, this means there is no point job data set and the number does not appear on the position entry screen. • The F0 (FUNC) key is invalid if no point job data is set for any of the [F1 Key Job Number] – [F12 Key Job Number] (point job number “0”...

  • Page 46: Save On Changing Mode

    4.1.10 Save on Changing Mode Set these settings to [Valid] (default) to display a confirmation screen for saving C & T data (if there are changes) when changing from Teaching Mode to Ext. Run or Switch Run Mode. Select [YES] to save the data and [NO] to discard the data. UTILITY [Teaching Environment Settings] [Save on Changing Mode] [Valid]...

  • Page 47: Test Menu

    4.2 Test Menu 4.2.1 Check Data When registering a new program or making adjustments or modifications to programs, always perform [Check Data] before running the program. UTILITY [Test Menu] [Check Data] Press the UTILITY key to display the test menu. Select [Check Data] from the test menu and a check of the currently selected program starts.
  • Page 48 Error Causes If the points are aligned as shown in the highlighted gray ( ) sections below, an error will occur. For example, a point type error occurs if a point is set as a PTP point when the previous point is a CP start point.
  • Page 49 Previous Point Error Point PTP Point PTP Evasion Point CP Start Point CP Passing Point CP End Point CP Stop Point CP Passing Point CP Stop Point CP Arc Point Previous Point Error Point PTP Point PTP Evasion Point CP Start Point CP End Point CP Arc Point CP Passing Point...

  • Page 50: Test Run

    4.2.2 Test Run Select [Test Run] when you want to check the movement for a newly registered or modified program before performing an actual run. The test run speed is limited so it will not exceed 250 mm/s for safety reasons. However, other than this, the robot performs one cycle of a test run (including the registered point job data and additional function data) the same as for an actual run.

  • Page 51: Io Connection Test

    NOTE If [Program Number Switching Method] in the All Program Common Settings is set to [Load at Start (IO-SYS)], the IO-SYS program number settings are applied when a run starts (including test runs). If you have connected a device to the IO-SYS that can change program numbers, change the program number settings on the device to the number you want to run before starting the test run.

  • Page 52: Test Run (Check Io)

    4.2.4 Test Run (Check IO) UTILITY [Test Menu] [Test Run (Check IO)] Test Run Mode Program 1 Select [Test Run (Check IO)] from the Test Running Menu to display the Test Run (Check IO) In Cycle Point Number 1 standby screen. Press the F4 (START) key 6543210987654321 to start the test run.

  • Page 53: Io Test (Fieldbus)

    4.2.5 IO Test (Fieldbus) UTILITY [Test Menu] [IO Test (Fieldbus)] Press UTILITY , select [Test Menu] and then IO Test (Fieldbus) Module Status Valid select [IO Test (Fieldbus)]. The Connect Module DeviceNet input/output statuses of the fieldbus assigned functions are displayed. FEDCBA9876543210 Check that the input/output statuses are Field-Bus IN...

  • Page 54: Check Io (Fieldbus)

    NOTE If [Program Number Switching Method] in the All Program Common Settings is set to [Load at Start (Fieldbus)], the fieldbus program number settings apply when a run starts (including test runs). If you have connected a device to the fieldbus that can change program numbers, change the program number settings on the device to the number you want to run before starting the test run.

  • Page 55: Memory Port

    Check IO (Fieldbus) 1/26 If you press the F1 (Bit) key on the word FEDCBA9876543210 data display, the screen switches from word 1_1_1_1_1_1_1_1_ [ AAAA ] data units to bit data units. _1_1_1_1_1_1_1_1 [ 5555 ] ____________1111 [ 000F ] Press the ESC key to return to the word ________________ [ 0000 ]...

  • Page 56: Teaching Data Backup

    Do not insert/remove the USB memory while the message is displayed and the robot is reading/writing. Write to USB Memory If you write data to the USB memory, teaching data is recorded in the folder below. The following folder configuration is created: JANOME Teaching data is saved in this folder DATA (extension CTD) XXX.CTD You can only save one teaching data file in the DATA folder.

  • Page 57: System Software Updates And Ps Data (Model Setting Data) Updates

    Read from USB Memory With this you can read teaching data from the USB memory. The teaching data backup file is read from the data file in the following folder configuration: JANOME The teaching data in this folder is DATA readout on the robot (extension CTD) XXX.CTD...

  • Page 58: Memory Port Settings (Administration Settings Mode)

    You cannot update both the system software and PS data at the same time. For PS data (model setting files), you can update the data for all the settings as a group. Insert the USB memory with the system software saved on it into the robot, turn the power ON and the system software is automatically updated.

  • Page 59: Viewing Error History

    4.4.2 Viewing Error History You can view error history in Teaching Mode or Run Modes by connecting a teaching pendant. 4.4.3 Teaching Mode If you have a teaching pendant connected, you can view error history by pressing the UTILITY key at the base screen of Teaching Mode and selecting “Error History” from the menu. UTILITY [Error History] Error History Error Description...

  • Page 60: Program Selection ( Prg.no Key)

    5. PROGRAM SELECTION ( PRG.NO Key) By calling up and running programs, you can make the robot perform various operations. Press the PRG.NO key on the base screen either in Teaching, External Run, or Switch Run mode. The Program Number entry screen (in Teaching Enter a number.
  • Page 61 F4 (GLIST) key: ······················ This displays the program for the currently selected number as a graph. These graphs make it easy to differentiate between individual programs. 001 WORK1 XY Coordinate direction PTP Points CP Points Graph Display NOTE CP points (from the CP start point to the CP end point) are displayed as a single line on the graph. Also note that dispensing specifications display only the outer circumference of an area which is filled in.

  • Page 62: Point Run

    6. POINT RUN In Teaching Mode, you can run any individual point. (However, with a CP movement, the robot runs from [CP Start Point] through [CP End Point] as one unit. A [Passing Point] cannot be run individually.) As you can run points at your discretion, you can run a singled point which is in the middle of a given program.
  • Page 63 Example 1 Example 2 P2: PTP point P2: CP point P1: PTP point P1: CP start point P3: CP end point P3: PTP point Current tool position Current tool position Example 1: The robot runs P1 (moves its axes and performs the point jobs and additional functions) and then waits at the P1 position.
  • Page 64 Example: [Pallet Routine] is set to point 2. When running P2, the “&” symbol appears on the settings screen for P2. Each time the F4 (P.EXEC) key is pressed here, the robot axes move to the next point on the pallet. NOTE •...

  • Page 65: Editing ( Edit Key)

    7. EDITING ( EDIT Key) 7.1 Point Editing 7.1.1 Inserting a Point Display the point settings screen for the number Editing Points Menu Insert a Point that will come after you have inserted the point Delete a Point in the place you want. Block Editing Common Block Settings Convert to Relative Coordinates...

  • Page 66: Deleting A Point

    7.1.2 Deleting a Point Display the settings screen for the point that you wish to delete. EDIT [Delete a Point] If you select [Delete a Point], the point currently displayed is deleted and the settings screen for the next point appears. Each point that comes after the deleted point decreases by one number. Currently displayed point (Before deletion) Deleted...

  • Page 67: Block Editing

    7.1.3 Block Editing You can edit (delete, move, copy, mirror copy, offset, position data rotation) a block of points between given points in a program. Display the block editing menu using the following procedure: Press the EDIT key on the point settings screen and Press the EDIT key select [Block Editing] from the point editing menu.
  • Page 68 Delete Block Points This deletes a block of points between given points in a program. Select [Delete Block Points] from the block editing menu. The Delete Block Points confirmation screen appears. Select [YES]. Delete block (Before deletion) (After deletion) Each point that comes after the deleted points decreases by the number of points deleted. Move Block Points You can move a block of points between given points in a program.
  • Page 69 Copy Block Points This copies a block of points between given points in a program. You can designate the number of copies and parallel moving distance. However, note that you cannot copy the points into other programs. Select [Copy Block Points] from the block editing menu. The parallel moving X distance entry screen appears.
  • Page 70 XYZR Offset This moves a point coordinate block between certain points in a program. Select [XYZR Offset] from the block editing menu. The X offset entry screen shown to the right appears. Enter the distance you want to move the Enter a number.
  • Page 71 Mirror Copy This makes a mirror copy of a block of points between given points in a program. However, note that it is not possible to copy the points into other programs. Mirror Copy (Front – Back) Mirror Copy (Right-Left) Mirror Position (X) Mirror Position (Y) Select [Mirror Copy (Right-Left)] or [Mirror...
  • Page 72 Block Rotation This rotates the coordinates for a point block between given points in a program. Select [Block Rotation] from the block editing menu. The center X entry screen shown to the right appears. Enter a number Enter the X coordinate for the center of rotation. Center X After entering the X coordinate, the center Y entry screen appears.
  • Page 73 Copy Block Rotation This rotates and copies the coordinates for a block of points between given points in a program. The copied points are inserted directly after the original block. Select [Block Rotation] from the block editing menu. The center X entry screen shown to the right appears.

  • Page 74: Common Block Settings

    Press the ENTR key to display the “shift position” (second point) entry screen. The coordinates of the first point are entered on the entry screen for the second point. Enter the coordinates for the second point. The point coordinate block is moved by the position difference (X, Y, Z, R) between the two points ([Original Position] and [Shift Position]).
  • Page 75 Common Line Speed Settings This sets the same line speed between given points in a program. If the block contains any PTP points, those points are not affected. If the moving distance is too short, etc., and movement is finished before the robot can reach the registered line speed, a “CP Speed Over”...
  • Page 76 Setting Type Numbers for Additional Function Data This sets specific numbers for additional function data to a block of points (between given points) in a program. If any point in the block already has the same additional function data set to it, the additional function data number is replaced with the number specified in common block settings.

  • Page 77: Convert To Relative Coordinates

    F3 (LIST) key:························· This displays the registered additional function number list. Select a number from the list, and the selected additional function data is set to the point and the display returns to the point settings screen. F4 (VIEW) key: ······················· This displays the settings screen for the currently displayed additional function data number.

  • Page 78: Mode Menu ( Menu Key)

    8. MODE MENU ( MENU Key) When creating or editing program data settings, point job data, and/or additional function data, push the MENU key to select items for each Common Data of the above. Program Point Data Point Data Point Data Program Data Last Point TP Screen...

  • Page 79: Program Individual Settings

    8.1 Program Individual Settings Program individual settings are settings to control the programs themselves and can be set individually to each program. For more details refer to the operation manual Functions I (Point Teaching). MENU [Program Individual Settings] [Program Name] [Individual Job on Start of Cycle] [Cycle Mode] [Position Data Type]...

  • Page 80: Additional Function Data

    8.4 Additional Function Data This data is used and called up by number from point data as an additional function. When additional function data is called up, its function is set to the point. However, depending on the point type it may not be possible to set the additional function.
  • Page 81 In Method 1, if you enter an additional function type number, or select a number from the list, the settings screen of the additional function data for the entered/selected number is displayed. In Method 2, if you press the F4 (VIEW) key on the additional function type number entry screen, the additional function data settings screen for the currently displayed number appears.

  • Page 82: Point Job Data

    8.5 Point Job Data Point job data are a set of command strings and logic operations performed at job points. Setting numbers to point data allows you to call on the data and use it. However, depending on the point type set to a given point, setting certain data may not be possible. You can create point job data Nos.
  • Page 83 In Method 1, if you enter a point job number, or select a number from the list, the settings screen of the point job data for the entered/selected number is displayed. In Method 2, if you press the F4 (VIEW) key on the point job number entry screen, the point job data settings screen for the currently displayed number appears.

  • Page 84: Entering Commands

    8.5.1 Entering Commands Point job data entry is performed by adding commands to the tail end of a command string. Select the last command number (a line with only the number and no command content) on the point job data settings screen.
  • Page 85 Example: Enter a string/expression for the outLCD, eoutLCD commands. • outLCD 7,4,"PULSE" Displays the string “PULSE” on the teaching pendant LCD. The outLCD command requires three parameters (row, column, and string) for the string and its display position (column and row on the LCD).

  • Page 86: Changing Commands

    8.5.2 Changing Commands There are two ways to modify the point job data command: changing the command in the command category (set (output command) pulse (output command) etc.), and changing the command category (set (output command) waitStart (wait command) etc.). Changing the Command in the Command Category Select the command that you want to change on the point job data settings screen.

  • Page 87: Block Editing

    8.5.5 Block Editing Delete Block EDIT [Block Editing] [Delete Block Points] Select [Delete Block Points] to display the block start number entry screen. Select the first number for the command block you want to delete. After entering the block start number, the block end number entry screen appears. Enter the last number of the command block.
  • Page 88 Move Block Points EDIT [Edit Block Commands] [Move Block Steps] Select [Move Block Steps] to display the block start number entry screen. Enter the first number of the commands you want to move. After entering the block start number, the block end number entry screen appears. Enter the last command number of the command block.
  • Page 89 Copy Block Points EDIT [Edit Block Commands] [Copy Block Steps] Select [Copy Block Steps] to display the block start number entry screen. Enter the first number of the commands you want to copy. After the block start number is entered, the block end number entry screen appears. Enter the last command number of the command block.

  • Page 90: Point Job Name Editing

    8.5.6 Point Job Name Editing The following explains how to enter a point job data name. This process can be used for entering a new name and also for modifying a registered name. First, display the point job data settings screen. On the Point Job Data settings screen: Point Job 1 Name...

  • Page 91: Jumping To A Specified Command Number

    8.5.8 Jumping to a Specified Command Number This displays the screen which includes the command of the specified number. The cursor moves to the number. Using this function enables you to display the desired command quickly when there are multiple command lines, without needing to press the CURSOR key over and over.
  • Page 92 In Method 1, if you enter a PLC program number, or select the number from the list, the settings screen of the PLC program for the entered/selected number is displayed. In Method 2, if you press the F4 (VIEW) key on the PLC program number entry screen, the settings screen of the PLC program for the currently displayed number appears.

  • Page 93: All Program Common Settings

    NOTE • By entering 0 you can disable (not carry out) the PLC program. • The registered PLC program is activated once you switch to External Run Mode or Switch Run Mode. 8.7 All Program Common Settings For details regarding All Program Common Settings refer to the operation manual Functions III (All Program Common Settings / PLC Programs).

  • Page 94: Copy

    8.8.2 Copy When you want to create data similar to an existing program/point job data/additional function data, it can be convenient to make a copy of that data and then edit it accordingly. MENU [Teaching Data Copy, Delete, Conversion] [Program] [Copy Program] [PTP Condition Data] [Copy PTP Condition Data]...
  • Page 95 After the source number is entered, the destination number entry screen appears. Enter a destination number for the copy. Enter a number. Destination Data Number On the destination number entry screen, press the F2 (NEW) key to display the unregistered number list. Press the F3 (LIST) key to display the LIST registered number list.

  • Page 96: Copy (Multiple)

    8.8.3 Copy (Multiple) When you want to create data similar to an existing program/point job data/additional function data, it can be convenient to make a copy of that data and then edit it accordingly. Use the Copy (Many) function to duplicate multiple data sets with one action. MENU [Teaching Data Copy, Delete, Conversion] [PTP Condition] [Copy PTP Condition Data (Many)]...
  • Page 97 After the source number is entered, the destination data number (S) entry screen appears. Enter the copy start destination number. Enter a number. NOTE: (S) indicates it is the start number. Destination Data Number (S) On the destination number entry screen, press the F2 (NEW) key to display the unregistered number list.

  • Page 98: Delete

    8.8.4 Delete This deletes the specified number’s program, point job data, or additional function data. MENU [Teaching Data Copy, Delete, Conversion] [Program] [Delete Program] [PTP Condition Data] [Delete PTP Condition Data] [CP Condition Data] [Delete CP Condition Data] [Tool Data] [Delete Tool Data] [Pallet Routine Data] [Delete Pallet Routine Data]...

  • Page 99: Delete (Multiple)

    8.8.5 Delete (Multiple) This deletes multiple specified program, point job data, or additional function data numbers. MENU [Teaching Data Copy, Delete, Conversion] [PTP Condition] [Delete PTP Condition Data (Many)] [CP Condition] [Delete CP Condition Data (Many)] [Tool Data] [Delete Tool Data (Many)] [Pallet Routine] [Delete Pallet Routine Data (Many)] [Workpiece Adjustment]...
  • Page 100 Once the block start number is set, the block end number entry screen is displayed, as shown to the right. Enter the end number of the block you want to delete. Enter a number. Once the data number range you want to delete Block End Number is entered, the delete confirmation screen is displayed.

  • Page 101: Change Program Number

    8.8.6 Change Program Number This edits the program numbers. The procedure described below produces the same result as copying a program, giving it a new name, and then deleting the original program. MENU [Teaching Data Copy, Delete, Conversion] [Program] [Change Program Number] Select [Change Program Number] to display Change Program Number the source program number entry screen, as...

  • Page 102: Delete All

    8.8.7 Delete All This deletes all the registered programs, point job data, or additional function data. (Additional function data is deleted by category.) MENU [Teaching Data Copy, Delete, Conversion] [Program] [Delete All Programs] [PTP Condition Data] [Delete All PTP Condition Data] [CP Condition Data] [Delete All CP Condition Data] [Tool Data]...

  • Page 103: Delete All Teaching Data

    8.8.8 Delete All Teaching Data Executing [Delete All Teaching Data] erases all of the following data or returns their set values to their default values: Delete/Revert to Default Data Values All programs Delete Point job data (1 – 500)* Delete Additional function data (1 –...

  • Page 104: Reset All Program Common Settings To Default Values

    8.8.10 Reset All Program Common Settings to Default Values Performing the [Reset All Program Common Settings] operation completely resets All Program Common Settings to their defaults. MENU [Teaching Data Copy, Delete, Conversion] [Reset All Program Common Settings] [YES] [NO] Default Values By performing [Delete All Teaching Data], [Reset Individual Program Settings], or [Reset All Program Common Settings], the setting values are reset to their default values.
  • Page 105 Position Setting Select [Position Setting] to display the screen S1 X+125 Y+250 on the right. X+140 Y+250 S2 X+0 Y+100 X+20 Y+100 S1 and S2 are the coordinates of the conversion source. D1 and D2 are the coordinates after conversion. Select each item and enter the coordinates.

  • Page 106: Ptp Speed Override

    If you select [Specify Program Number], a program number entry screen appears. Enter the program number and the following coordinates are converted: • Position coordinates from Point 1 to the last point in the designated program If you select [Specify Point Number], a block start number entry screen appears. Enter the start number, and the block end number entry screen appears.

  • Page 107: Saving C&T Data ( Save Key)

    9. SAVING C&T DATA ( SAVE Key) This saves C&T data (customizing data and teaching data). Any modifications made to C&T data which are not saved are deleted automatically when the power to the robot is turned OFF. Be sure to save whenever you modify teaching data and/or customizing data. SAVE Program 4 To save C&T data, press the SAVE...

  • Page 108: Delete All C & T Data

    10. DELETE ALL C & T DATA This deletes all C & T data (customizing data and teaching data) on the robot. If you are using a model other than a Standard Specification model, do not perform this operation. Dedicated application data for Screw Tightening, Dispensing etc., is registered as customized data in a specialized account.

  • Page 109: Lcd Backlight On/Off

    11. LCD BACKLIGHT ON/OFF You can set the backlight of the teaching pendant LCD display to ON/OFF when in Run Mode. The lifespan of the LCD display is dependent upon the lifespan of the backlight. By setting this function, you can extend the life of the LCD display. MODE [Administration] [Administration Settings Mode] [Back Light Auto OFF]...

  • Page 110: Operation Flowchart

    Operation Flowchart (Standard Specifications) Ver.1.0x 1/4 Power ON English F・1 LANG Japanese NOTE: For application specifications, please refer to that application operation manual. German External/Switch Run Mode Teaching Mode Italian Spanish F・1 Start (Initialize) F・4 (Initialize) F・1 French LANG LANG Korean Simplified Chinese MODE...
  • Page 111 Operation Flowchart (Standard Specifications) Ver.1.0x 2/4 PTP Condition Settings PTP Condition Number PTP Speed （F） （F） R-Axis Rotate Speed Individual Program R-Axis Acceleration Program Name CP Condition Settings CP Condition Number CP Acceleration Settings Relative Mode/Absolute Mode Individual Job on Start of Cycle R-Axis Rotate Speed Z Move Height/Horizontal Move Pos'n R-Axis Acceleration...
  • Page 112 Operation Flowchart (Standard Specifications) Ver.1.0x 3/4 Common Setting Variable Enumeration Type Protect Mode No Limit Variables Definition Type Hide Control Valid/Invalid Public Protected UTILITY (A)-1 (A)-1 Private Variable Caption Number of Selections Teaching Mode Customizing Account Selection Item Caption Teaching Mode Display Settings Application Caption Login Make New Account...
  • Page 113 Operation Flowchart (Standard Specifications) Ver.1.0x 4/4 Program Program List Copy Program PTP Condition Copy PTP Condition Data Delete Program Delete PTP Condition Data CP Condition Copy CP Condition Data Change Program Number Delete All PTP Condition Data Delete CP Condition Data Delete All Programs Copy PTP Condition Data (many) Delete All CP Condition Data...
  • Page 114 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, Janome Sewing Machine Co., Ltd., All rights reserved.

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