Janome JR3000 Series Operation Manual

Janome desktop robot

Hide thumbs Also See for JR3000 Series:

Operation manual (178 pages)

Read this first manual (28 pages)

Operation manual (64 pages)

Table Of Contents

Table of Contents

Quick Links

Need help?

Do you have a question about the JR3000 Series and is the answer not in the manual?

Questions and answers

Summary of Contents for Janome JR3000 Series

Page 1 JR3000 Series Operation Manual Basic Instructions 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 Failure to do so could cause electric shock and/or injury. Do not handle or operate the robot in ways not covered in the manuals listed on the previous page. Contact Janome (listed on the Warning back page of this manual) for repairs.
Page 4: Table Of Contents
CONTENTS PREFACE ..............................1 CONTENTS............................. 3 FOR YOUR SAFETY ..........................6 1. NOMENCLATURE ..........................14 2. PART NAMES ........................... 15 2.1 JR3200 Series ..........................15 2.1.1 Main Unit ..........................15 2.1.2 Operation Panel ........................16 2.1.3 Operation Panel Rear ......................17 2.2 JR3300 Series ..........................
Page 5 8.9 Error History ..........................37 8.10 Saving Data ..........................39 9. WHAT YOU CAN DO IN SWITCH RUN MODE ................40 9.1 Mechanical Initialization ....................... 40 9.2 Emergency Stop .......................... 41 9.3 How to Select a Program ......................42 9.4 Run Start ............................43 9.5 PTP Speed Override ........................
Page 6 12.4 Mechanical Adjustment Mode ....................71 12.5 Version Information ........................71 13. STARTUP MENU ..........................72 14. MEMORY PORT ..........................73 14.1 Teaching Data Backup ....................... 73 14.2 System Software and PS Data (Model Setting Data) Updates ..........75 14.3 Setting up the MEMORY Port (Administration Settings Mode) ..........75 Basic Instructions Desktop Robot JR3000...
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 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 formation of a robot etc., we ask that you perform a risk assessment on your side and take any necessary safety measures.
Page 9 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 enclosure or put your face, hands, or any part of your body inside. Failure to do can result in injury.
Page 10 FOR YOUR SAFETY If Using Auxiliary Axis Functions in a Way that Require Safety Measures Warning Construct a safety enclosure that is strong enough to protect the operator against such dangers as the tool or workpiece splintering, etc. When working within the safety enclosure, use protective gear such as a helmet, protective gloves, protective goggles, and safety shoes.
Page 11 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 12 FOR YOUR SAFETY Warning Always make sure the machine is grounded through the power cord. Do not use the machine when it is not grounded. Improper grounding causes electric shocks, fires, malfunction, and unit breakdown. Wipe the power plug with a clean, dry cloth periodically to eliminate dust. Dust accumulation deteriorates the electrical insulation and causes fires.
Page 13 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 14 FOR YOUR SAFETY Caution When attaching tools 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 15: Nomenclature
• 3 = X,Y,Z • 4 = X,Y,Z,R X axis and Y axis stroke • 20 = 200 x 200mm • 30 = 300 x 320mm • 40 = 400 x 400mm Janome Desktop Robot JR3000 Series Basic Instructions Desktop Robot JR3000...
Page 16: Part Names
2. PART NAMES 2.1 JR3200 Series 2.1.1 Main Unit 4 Axis Specs. Z Mechanism Z Mechanism R Axis Y Body Column X Table Base Example: JR3203N-AC Basic Instructions Desktop Robot JR3000...
Page 17: Operation Panel
2.1.2 Operation Panel Installed Switch Specifications Example: JR3203N-AC Program Number Display LED (red) Start Switch Emergency Stop Switch LED (green) Program Number Keys Fieldbus (Optional) Teaching Pendant MEMORY Port Connector TPU COM1: RS-232C LAN Port Switchbox Specifications Example: JR3203N-BC LED Lamp Switchbox Connector (Optional) Basic Instructions...
Page 18: Operation Panel Rear
2.1.3 Operation Panel Rear Example: JR3203N-AC/BC COM2: RS-232C I/O Internal Power Fuse (optional) (optional) Power Switch I/O-SYS Inlet I/O-1 or I/O-MT (optional) I/O-S COM3: RS-232C (optional) (optional) Basic Instructions Desktop Robot JR3000...
Page 19: Jr3300 Series
2.2 JR3300 Series 2.2.1 Main Unit 4 Axis Specs. Z Mechanism Z Mechanism R Axis Column Y Body Column X Table Base Example: JR3303N-AC Basic Instructions Desktop Robot JR3000...
Page 20: Operation Panel
2.2.2 Operation Panel Installed Switch Specifications Example: JR3303N-AC Program Number Display Start Switch Emergency Stop LAN Port Switch LED (red) Program Number LED (green) Keys MEMORY Port Teaching Pendant Connector TPU COM1: RS-232C Switchbox Specifications Example: JR3303N-BC LED Lamp Switchbox Connector (Optional) Basic Instructions Desktop Robot JR3000...
Page 21: Operation Panel Rear
2.2.3 Operation Panel Rear Example: JR3303N-AC/BC COM2: RS232C (optional) COM3: RS232C I/O Internal Fieldbus (optional) Outlet Power Fuse (optional) Inlet I/O-1 (optional) Outlet Fuse I/O-SYS (3.15 Time Lag Type φ5.2×20) I/O-MT(Optional) I/O-S Power Switch (optional) Basic Instructions Desktop Robot JR3000...
Page 22: Jr3400 Series
2.3 JR3400 Series 2.3.1 Main Unit 4 Axis Specs. Z Mechanism Z Mechanism R Axis Column Y Body X Table Base Example: JR3403N-AC Basic Instructions Desktop Robot JR3000...
Page 23: Operation Panel
2.3.2 Operation Panel Installed Switch Specifications Example: JR3403N-AC Program Number Display Start Switch Emergency Stop LAN Port Switch LED (red) Program Number LED (green) Keys MEMORY Port Teaching Pendant Connector TPU COM1: RS-232C Switchbox Specifications Example: JR3403N-BC LED Lamp Switchbox Connector (Optional) Basic Instructions Desktop Robot JR3000...
Page 24: Operation Panel Rear
2.3.3 Operation Panel Rear Example: JR3403N-AC/BC COM2: RS-232C Outlet Fuse (optional) (3.15 Time lag type φ5.2x20) COM3: RS-232C I/O Internal (optional) Fieldbus Outlet Power Fuse Inlet (optional) I/O-SYS I/O-MT (optional) Power Switch I/O-S I/O-1 (optional) (optional) Basic Instructions Desktop Robot JR3000...
Page 25: Teaching Pendant
2.4 Teaching Pendant The teaching pendant is a device used to teach and enter programs etc., into the robot. LCD Display Operation Panel Emergency Stop Switch (Optional) NOTE The teaching pendant is optional. From here onwards, the description “optional” is omitted. Do not plug or unplug the teaching pendant when the power is still ON.
Page 26: Switchbox
2.5 Switchbox The switch box is a device to be used from a separate location equipped with a start switch and emergency stop switch. Program Number Emergency Stop Display Switch LED (Red) Start Switch Program Number Keys LED (Green ) 2.6 Teaching Pendant Operation Panel Keys Name Function...
Page 27 Name Function Enters the number 3. 3 / D 3 / D Key Press together with SHIFT to enter the hexadecimal D. Enters the number 4. 4 / E 4 / E Key Press together with SHIFT to enter the hexadecimal E.
Page 28: System Configuration
3. SYSTEM CONFIGURATION Teaching Pendant (optional) Robot Example: JR3203N-BC Switchbox (For switchbox specification robots only) PC with a Windows® 7 / 8 / 8.1 operating system* Tool* Dispenser, Electric Screwdriver, etc. PLC, etc. Area Sensor, etc.* RS-232C Cable* Windows is a registered trademark of Microsoft Not included An RS-232C port on the back of the robot is optional Basic Instructions...
Page 29: Coordinate System
4. COORDINATE SYSTEM Y = 0 Y Axis Z = 0 Z Axis X = 0 X Axis R Axis Example: JR3204N-AC Basic Instructions Desktop Robot JR3000...
Page 30: Movement Types
5. MOVEMENT TYPES The robot moves from one point to another with a tool attached to the tip of its Z axis, where it performs jobs registered to each point. Movements from one point to another are performed as a PTP movement or a CP movement depending on the settings of the each point.
Page 31: Changing Modes
6. CHANGING MODES Broadly speaking, this robot has the following 5 operation modes: • External Run Mode: ················ Runs programs (Start running programs from I/O-SYS, Fieldbus, COM1, or Ethernet) • Switch Run Mode: ··················· Runs programs (Start running programs by pressing the start switch.) •...
Page 32: What The Leds Mean
7. WHAT THE LEDS MEAN Program Number Display LED (Red) LED (Green) Example: JR3203N-AC • Red ············ Blinking·················· Start inhibit • Green ·········· Blinking·················· Waiting to start • Green ·········· Blinking (slowly) ······· Waiting to start - external start signal (Start instruction from the start channel) •...
Page 33: What You Can Do In External Run Mode
8. WHAT YOU CAN DO IN EXTERNAL RUN MODE External Run Mode is a mode to start running programs by a signal from the start channel (I/O-SYS, Fieldbus, COM1, user definitions or Ethernet). For further information regarding the start channel (user definition), refer to the operation manual Functions III (All Program Common Setting /PLC Programs).
Page 34: Emergency Stop
Emergency Stop Switch Pendant (The emergency stop switch on the teaching pendant is optional for the JR3000 series.) How to release the switch Confirm it is safe to release the switch, and while the switch is pressed down, turn it clockwise to release.
Page 35: How To Select A Program
8.3 How to Select a Program Select a program using the following methods: 1. Teaching Pendant 2. Operation Switches (program selection keys) 3. I/O-SYS 4. Fieldbus 5. COM1 6. Ethernet 1. Selection from the teaching pendant Press the PRG.NO key on the teaching pendant and enter the program number you want to run. You can also select from a list of registered programs by pushing the F3 (LIST) key on the input screen.
Page 36: Run Start
Teaching Mode MENU [All Program Common Settings] [I/O Settings] * If [Program Number Switching Method] is set to [Binary Code], set the program number in binary format, and if set to [BCD (Binary Coded Decimal)], set the program number in BCD format. 5.
Page 37: Ptp Speed Override
Valid run start instructions can come from among only one of these types; [I/O-SYS], [Fieldbus], [COM1] or [Ethernet]. Set up the Start Channel in advance. MODE [Administration] [Administration Settings Mode] [Start Channel] [Robot] [Administration] [Administration Settings] [General Setting] 8.5 PTP Speed Override You can set the running PTP speed to a fraction (of the regular speed).
Page 38: Changing The Teaching Pendant Display
8.7 Changing the Teaching Pendant Display You can change the teaching pendant LCD display settings by pushing the UTILITY key and selecting [Teaching Environment Settings] [Screen Contrast]. However, you cannot perform this operation while running a program. Item Function Change the teaching pendant LCD contrast CURSOR key: darker Screen Contrast...
Page 39 Viewing Error History You can view error history in Teaching Mode or Run Modes by connecting a teaching pendant. If you have a teaching pendant connected, you can view error history by pressing the MENU key at the base screen and selecting [Error History] from the menu. MENU [Error History] Run Mode Menu PTP Speed Override...
Page 40: Saving Data
8.10 Saving Data Customizing data and teaching data are saved collectively (C&T data). If the teaching pendant is connected to the robot, press the SAVE key. If you want to save data edited on a PC to the robot, use the PC software JR C-Points II to send the data to the robot. The data sent from the PC is stored in the robot automatically.
Page 41: What You Can Do In Switch Run Mode
9. WHAT YOU CAN DO IN SWITCH RUN MODE Switch Run Mode is a mode that starts running programs when the start switch is pressed. The RUN light on the teaching pendant is lit up when in Switch Run Mode. Also, the HOME light on the teaching pendant is lit up after mechanical initialization is performed.
Page 42: Emergency Stop
Emergency Stop Switch Pendant (The emergency stop switch on the teaching pendant is optional for the JR3000 series.) How to release the switch Confirm it is safe to release the switch, and while the switch is pressed down, turn it clockwise to release.
Page 43: How To Select A Program
9.3 How to Select a Program Select a program using the following methods: 1. Teaching Pendant 2. Operation Switches (program selection keys) 3. I/O-SYS 4. Fieldbus 5. COM1 6. Ethernet 1. Selection from the teaching pendant Press the PRG.NO key on the teaching pendant and enter the program number you want to run. You can also select from a list of registered programs by pushing the F3 (LIST) key on the input screen.
Page 44: Run Start
Teaching Mode MENU [All Program Common Settings] [I/O Settings] * If [Program Number Switching Method] is set to [Binary Code], set the program number in binary format, and if set to [BCD (Binary Coded Decimal)], set the program number in BCD format. 5.
Page 45: Ptp Speed Override
9.5 PTP Speed Override You can set the running PTP speed to a fraction (of the regular speed). (This setting does not affect the CP speed (linear speed)). Please use this when you wish to run a new program at a low speed, etc. External Run Mode Program 1 Press the MENU key when in Run Mode,...
Page 46: Changing The Teaching Pendant Display
9.7 Changing the Teaching Pendant Display It is possible to change the teaching pendant LCD display settings. Push the UTILITY key and select [Teaching Environment Settings] [Screen Contrast]. However, this operation cannot be performed during a program run. Item Function Change the teaching pendant LCD contrast CURSOR key: darker...
Page 47 Viewing Error History You can view error history in Teaching Mode or Run Modes by connecting a teaching pendant. If you have a teaching pendant connected, you can view error history by pressing the MENU key at the base screen and selecting [Error History] from the menu. MENU [Error History] Run Mode Menu PTP Speed Override...
Page 48: Saving Data
9.10 Saving Data Customizing data and teaching data are saved collectively (C&T data). If the teaching pendant is connected to the robot, press the SAVE key. If you want to save data edited on a PC to the robot, use the PC software JR C-Points II to send the data to the robot. The data sent from the PC is stored in the robot automatically.
Page 49: What You Can Do In Teaching Mode
10. WHAT YOU CAN DO IN TEACHING MODE Teaching Mode is a mode used to create programs, etc. Creating programs and entering settings is called “teaching”. Through teaching, the information is entered into the robot and is called “teaching data”. The “TEACH”...
Page 50: Emergency Stop
Emergency Stop Switch Pendant (The emergency stop switch on the teaching pendant is optional for the JR3000 series.) NOTE If the emergency stop is pushed during movement, the robot may stop later than when the emergency stop was actually pushed due to inertia. The stopping position may therefore exceed the range of movement.
Page 51: How To Select A Program
10.3 How to Select a Program Select a program using the following method: From the Teaching Pendant Press the PRG.NO key on the teaching pendant and enter the program number you want to run. 10.4 Point Run When the robot is in Teaching Mode, the operator should pay special Caution attention to its movements.
Page 52: Teaching Environment Settings
NOTE • During the test run, the “TEACH” and “RUN” LEDs on the teaching pendant are lit up. If there are commands in the point job data and/or PLC program data to wait for a signal from I/O-SYS or I/O-1, the test run will also execute these commands and wait for the signal. •...
Page 53: Error History
• Key Click ······························ Select where click sounds occur when keys on the operation panels are pushed. • Robot ON, TP Panel ON: Both the robot and teaching pendant beep. • Robot OFF, TP Panel ON: Only the teaching pendant beeps. •...
Page 54: Saving Data
When in Teaching Mode If you have a teaching pendant connected, you can view error history by pressing the UTILITY key at the Teaching Mode base screen and selecting [Error History] from the menu. UTILITY [Error History] Error History Error Description 2014 10/15 12:20 45 Error No.001 2014 10/15 12:20 45...
Page 55: Types Of Teaching Data
10.9 Types of Teaching Data Up to 999 individual programs can be made. Each program includes individual program settings and point data. The Teaching Mode menu contains the following items in the table below. Teaching Mode MENU Item Details Individual Program Settings which are only activated during the program run of the program to Settings that they are set.
Page 56 Settable Item Details Common/Individual Conversion Program Name The program name. Individual only You can enter 40 – 120 characters depending on the character type entered by the PC. You can enter 40 characters per line, up to 3 lines (1 – 20 characters) with the teaching pendant.
Page 57 Workpiece Mass Settings for the mass carried by the X table. The X Common/Individual (not available with axis moves at the optimum speed and acceleration JR3200) according to the set mass. If the workpiece mass is heavier than the setting, a positioning error may occur.
Page 58 Point data has the following entries: 1. Coordinates X, Y, Z, R Point coordinate (X, Y, Z, R) data 2. Point Type Point types defined by the different methods for moving to the next point 8 end point 作業原点 Work Home : PTP movement (work home –...
Page 59 7) PTP Evasion Point The point where the robot evades obstacles in a PTP movement. 8) Circle Start Point Specify a Circle Center Point and Circle, and then use this point to make an arc movement (CP movement). The following point, the Circle Center Point, is the center of the arc. The circle angle is set in the following point;...
Page 60: All Program Common Settings
• Job after Moving The robot performs a point job after reaching the designated point. • Job while CP Moving The robot repeatedly performs a point job while moving from the designated point to the next point in CP movement. 6.
Page 61: Common Data
Settable Items Details Common/Individual Point Reset Settings Settings related to a point reset. Common only Other Parameters The following items can be set: Common only • Initialize • Initialization at Start • Position Error Check • Order of Init. • Stop by Start Switch •...
Page 62: Point Job Data
10.9.5 Point Job Data Point job data is a series of collected commands and logic operations performed at job points. By setting numbers to point job data, you can call up and use them by number. Some settings might be unavailable depending on the point type.
Page 63: Plc Programs
( : Can be set, blank: Cannot be set) Point Job Data/ Additional Function Data Point Type PTP Point CP Start Point CP Passing Point CP Stop Point CP Arc Point CP End Point PTP Evasion Point Circle Start Point Circle Center Point Work Home (PTP Point) Work Home (CP Start Point)
Page 64 C&T Data Customizing Data Teaching Data Not Logged In All Program Common Data (Teaching Mode Customizing) Program Teaching Mode Display Settings Point Data Common / Individual P1, P2, P3,... Teaching Mode Job, PLC Individual Program Settings All Prog. Common Default Settings Point Job Data Logged In Point Job...
Page 65 C&T Data C&T data contains “teaching data” and “customizing data.” Teaching data combined with customizing data is referred to as “C&T data.” Saving using the SAVE key or data transfers between the robot and the PC are done in units of “C&T data.”...
Page 66: Teaching Data Correlation
10.10 Teaching Data Correlation When set to [Common], All Program Common Settings are applied during runs. When set to [Individual], Individual Program Settings are applied. If a job number or additional All Program Common Settings function number is registered to a point, the point job data or additional function data for that number Program 1...
Page 67: Restart Method After Position Offset (Jr3000E Series Only)
10.11 Restart Method After Position Offset (JR3000E Series Only) This function is only applicable with the JR3000E Series. The JR3000N Series does not have this. If a large burden or external force is placed upon one of the axes during movement, the motor may step-out.
Page 68 Same point and next point restarts for a CP movement Same Point Restart Next Point Restart Work Home Work Home PTP Point PTP Point movement movement Point 1 Point 1 PTP Point PTP Point movement movement Point 2 Point 2 CP Start Point CP Start Point movement...
Page 69: What You Can Do In Customizing Mode
11. WHAT YOU CAN DO IN CUSTOMIZING MODE Customizing Mode is a mode used to organize the Teaching Mode menu and create data that makes up programs. Additionally, you can set up an account and then log in to restrict access to data created or definitions set in this mode (excluding the Teaching Mode customizing data) from other accounts and Teaching Mode.
Page 70: What You Can Do In Administration Mode
12. WHAT YOU CAN DO IN ADMINISTRATION MODE Administration Mode is broken up into 5 modes: Administration Settings Mode, Diagnostic Mode, Mechanical Adjustment Mode, Version Information, and Error History. 12.1 Emergency Stop The emergency stop in Administration Mode is the same in Teaching Mode. After the emergency stop is released, the robot returns to Teaching Mode.
Page 71: Diagnostic Mode
Caution to the risk of injury and unit breakdown. * A maintenance operator is someone who has attended maintenance courses at Janome or at one of our dealers. For further details, please refer to Maintenance (For Maintenance Operators). If there is any trouble with the robot, teaching pendant or switch box, perform a diagnostic. Perform this when you suspect there is a failure or damage to the robot unit.
Page 72: Mechanical Adjustment Mode
Caution to the risk of injury and unit breakdown. * A maintenance operator is someone who has attended maintenance courses at Janome or at one of our dealers. For further details, please refer to Maintenance (For Maintenance Operators). This is a mode to perform [Sensor Adjustment].
Page 73: Startup Menu
13. STARTUP MENU If you hold down the (+) and (-) program selection keys simultaneously on the front operation panel or the switch box when turning the power ON, you enter a startup menu before Teaching Mode or Run Mode is started. You can enter the startup menu even if the teaching pendant is not connected. At the startup menu, the menu numbers are displayed in the 7seg LEDs of the program number display.
Page 74: Memory Port
14. MEMORY PORT What you can do with the MEMORY port: Insert a commercial USB memory (ver. 2.0) into the Memory Port to record robot data. NOTE • The USB memory device needs to be in FAT format. • The robot may not recognize some USB memory devices depending on the manufacturer. However, the robot may recognize the USB memory device if you format it.
Page 75 Write to USB Memory If you write data to the USB memory, teaching data is saved in the following folder. The folder configuration on the following page is created. JANOME Teaching data is saved in this folder DATA (extension CTD) XXX.CTD...
Page 76: System Software And Ps Data (Model Setting Data) Updates
14.2 System Software and PS Data (Model Setting Data) Updates Create the predefined folder in the USB memory beforehand. The system software is saved into the UPDATE folder. The following folder configuration is created: JANOME The system software or PS data is UPDATE saved into this folder (extension: JSY) XXX.
Page 77 Auto Update Valid/Invalid Setting You can disable the automatic updates when the power turns ON. This can be helpful to prevent malfunctions when turning ON the power. NOTE Memory port and automatic updates are set to valid as factory default settings. Basic Instructions Desktop Robot JR3000...
Page 78 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.

This manual is also suitable for:

Jr3400 series Jr3200 series Jr3500 Jr3600 series Jr3300 series

Janome JR3000 Series Operation Manual

1 Nomenclature

2 Part Names

3 System Configuration

4 Coordinate System

5 Movement Types

6 Changing Modes

7 What the Leds Mean

8 What You Can Do in External Run Mode

9 What You Can Do in Switch Run Mode

10 What You Can Do in Teaching Mode

11 What You Can Do in Customizing Mode

12 What You Can Do in Administration Mode

13 Startup Menu

14 Memory Port