Janome JR3000 Series Operation Manual
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Janome JR3000 Series Operation Manual

Janome JR3000 Series Operation Manual

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JANOME DESKTOP ROBOT
JR3000 Series
Operation Manual
Specifications
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.
Original Instructions

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Summary of Contents for Janome JR3000 Series

  • Page 1 JR3000 Series Operation Manual Specifications 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. LINEUP.............................. 15 1.1 Understanding the Model Number ....................17 2. IDENTIFICATION PLATE ......................... 18 2.1 Reading the Identification Plate (Sample) ................... 18 2.2 Identification Plate Locations ....................... 19 3.
  • Page 5 7.8 Input Signal (PNP) ........................56 7.9 Output Signal (PNP) ........................57 7.10 Circuit Diagram (PNP) ....................... 58 8. I/O-SYS FUNCTION ASSIGNMENT ....................60 9. FIELDBUS FUNCTION ASSIGNMENT ................... 61 10. I/O-1 (Optional) ..........................62 10.1 Connector ..........................62 10.2 Pin Nos. (Robot Side) ........................ 64 10.3 Function Assignment List ......................
  • Page 6 13. I/O-MT (OPTIONAL) ........................86 13.1 Connector ..........................86 13.2 Pin No. (Robot Side) ........................87 13.3 Function Assignment ......................... 87 13.4 Cable Wiring ..........................88 13.5 Output Capacity ......................... 89 13.6 Input Signals ..........................89 13.7 Output Signals ........................... 90 13.8 Circuit Diagram ..........................

  • 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 MEMO Specifications Desktop Robot JR3000...

  • Page 16: Lineup

    1. LINEUP JR3200 Series JR3203N-AC JR3203N-BC JR3203E-AC JR3203E-BC JR3204N-AC JR3204N-BC JR3204E-AC JR3204E-BC JR3300 Series JR3303N-AC JR3303N-BC JR3303E-AC JR3303E-BC JR3303N-AJ JR3303N-BJ JR3303E-AJ JR3303E-BJ JR3304N-AC JR3304N-BC JR3304E-AC JR3304E-BC JR3304N-AJ JR3304N-BJ JR3304E-AJ JR3304E-BJ Specifications Desktop Robot JR3000...
  • Page 17 JR3400 Series JR3403N-AC JR3403N-BC JR3403E-AC JR3403E-BC JR3403N-AJ JR3403N-BJ JR3403E-AJ JR3403E-BJ Double Column (Optional) Double Column (Optional) JR3404N-AC JR3404N-BC JR3404E-AC JR3404E-BC JR3404N-AJ JR3404N-BJ JR3404E-AJ JR3404E-BJ Double Column (Optional) Double Column (Optional) Specifications Desktop Robot JR3000...

  • Page 18: Understanding The Model Number

    • 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 Specifications Desktop Robot JR3000...

  • Page 19: Identification Plate

    2. IDENTIFICATION PLATE 2.1 Reading the Identification Plate (Sample) JANOME SEWING MACHINE CO.,LTD. 1463 Hazama-machi,Hachioji-shi,Tokyo,JAPAN MODEL JR3204E-AC　　　 　SCR：1.5kA MAN：170802000 S/N：14JR32E0001 Production year 2014 MADE IN JAPAN 1. Model name Refer to “1.1 Understanding the Serial Number.” 2. Manufacturer 3. Operation manual serial number 4.

  • Page 20: Identification Plate Locations

    2.2 Identification Plate Locations JR3200 Series Example: JR3203N-AC JR3300 Series Example: JR3303N-AC Specifications Desktop Robot JR3000...
  • Page 21 JR3400 Series Example: JR3403N-AC Specifications Desktop Robot JR3000...

  • Page 22: I/O Polarity

    3. I/O Polarity There are two types of I/O polarity: NPN specifications and PNP specifications. After confirming your robot’s polarity specifications, always connect tools (etc.) which are compatible with these specifications. The I/O polarity can be confirmed by checking the nameplate affixed to the rear of the robot.
  • Page 23 I/O nameplates are affixed in the following areas: JR3200 Series Example: JR3203N-AC JR3300 Series Example: JR3303N-AC Specifications Desktop Robot JR3000...
  • Page 24 JR3400 Series Example: JR3403N-AC Specifications Desktop Robot JR3000...

  • Page 25: External Dimensions

    4. EXTERNAL DIMENSIONS 4.1 Unit External Dimensions 4.1.1 JR3203 External dimensions of the JR3203 Series using the JR3203N-AC model as an example. 4-M4 (5 depth) 2-φ5H6 (5 depth) 200(Y stroke) (M4 nut insertion) 2-50(M4ﾅｯﾄ挿入) 2-25 (両側面) (bilateral view) (55) (138) 200(X stroke) (85) 4-φ30...
  • Page 26 8-M4 (6 depth) 50(M4ﾅｯﾄ挿入) (M4 nut insertion) 4-M5　　　 (後面) (rear view) 2-M4　　 (20 depth) (8 depth) 2-M5 (39) (opening) (貫通) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 27: Jr3204

    4.1.2 JR3204 (329.5) External dimensions of the JR3204 Series using the JR3204N-AC model as an example. 4-M4 (5 depth) 2-φ5H6 (M4 nut insertion) 2-50(M4ﾅｯﾄ挿入) (5 depth) 2-25 (両側面) (bilateral view) 200(Y stroke) (138) (71) 200(X stroke) (101) 4-φ30 (M8) Specifications Desktop Robot JR3000...
  • Page 28 50(M4ﾅｯﾄ挿入) (M4 nut insertion) 8-M4 (後面) (rear view) (6 depth) (39) φ10 h7 (10 depth) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 29: Jr3303

    4.1.3 JR3303 96.5 96.5 External dimensions of the JR3303 8-M4　　 (6 depth) Series using the JR3303N-AC model as an example. 12-M4　　 (6 depth) 35.5 35.5 115.5 115.5 (M4 nut 4-50(M4ﾅｯﾄ挿入) insertion) 4-25 (左右両側面) 320(Y stroke) (bilateral view) 170 (131) 70 (160) (216) 456.8...
  • Page 30 25-M4　　 (5 depth) 2-φ5H6 (4 depth) 4-M5　　　 2-M4　　 (20 depth) (8 depth) 2-M5 (Opening) Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 31: Jr3304

    4.1.4 JR3304 R軸 center R axis center 96.5 96.5 External dimensions of the JR3304 8-M4　　 Series using the JR3404N-AC model (6 depth) as an example. 12-M4　　 (6 depth) 35.5 35.5 115.5 115.5 (M4 nut 4-50(M4ﾅｯﾄ挿入) 4-25 insertion) (左右両側面) (bilateral view) 320(Y stroke) (160) 456.8...
  • Page 32 25-M4　　 (5 depth) 2-φ5H6 (4 depth) φ10 h6 M5　 (10 depth) Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot. If the robot is too close to the wall, etc. it will be hard to do maintenance, etc., and also due to the cooling fan on the rear of the unit, the robot may overheat or malfunction.

  • Page 33: Jr3403 Single Column (Standard)

    4.1.5 JR3403 Single Column (Standard) External dimensions of the single 6-M4　　 column JR3403 Series using the (6 depth) JR3403N-AC model as an example. 10-M4　　 (6 depth) (M4 nut 2-50(M4ﾅｯﾄ挿入) insertion) 2-25 400(Y stroke) (両側面) (bilateral view) (191) 70 (235) (276) 556.4 400(X stroke) (M8)
  • Page 34 25-M4　　 (5 depth) 2-φ5H6 (4 depth) 〈B部詳細〉 50(M4ﾅｯﾄ挿入) (M4 nut insertion) (後面) (bilateral view) 4-M5　　　 2-M4　　 (20 depth) (8 depth) 2-M5 (貫通) (opening) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 35: Jr3403 Double Column (Optional)

    4.1.6 JR3403 Double Column (Optional) External dimensions of the double column (optional) JR3403 Series using 6-M4　　 JR3403N-AC model (6 depth) example. 10-M4　　 (6 depth) (M4 nut 2-50(M4ﾅｯﾄ挿入) insertion) 2-25 400(Y stroke) (両側面) (bilateral view) (191) 70 (235) (276) 556.4 400(X stroke) (M8) Specifications Desktop Robot JR3000...
  • Page 36 25-M4　　 (5 depth) 2-φ5H6 (4 depth) 〈B部詳細〉 50(M4ﾅｯﾄ挿入) (M4 nut insertion) (後面) (rear view) 4-M5　　　 2-M4　　 (20 depth) (8 depth) 2-M5 (貫通) (opening) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 37: Jr3404 Single Column (Standard)

    4.1.7 JR3404 Single Column (Standard) R軸 center R axis center External dimensions of the single 6-M4　　 column JR3404 Series using the (6 depth) JR3404N-AC model as an example. (M4 nut 10-M4　　 2-50(M4ﾅｯﾄ挿入) insertion) 2-25 (6 depth) (両側面) (bilateral view) 400(Y stroke) (141) 120 (235) (226)
  • Page 38 25-M4　　 (5 depth) 50(M4ﾅｯﾄ挿入) (M4 nut insertion) (rear view) (後面) 2-φ5H6 (4 depth) 〈B部詳細〉 φ10 h6 M5　 (10 depth) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 39: Jr3404 Double Column (Optional)

    4.1.8 JR3404 Double Column (Optional) R軸 center R axis center External dimensions of the double 6-M4　　 column (optional) JR3404 Series using (6 depth) JR3404N-AC model example. (M4 nut 10-M4　　 2-50(M4ﾅｯﾄ挿入) insertion) 2-25 (6 depth) (両側面) (bilateral view) 400(Y stroke) (141) 120 (235) (226) 556.4...
  • Page 40 25-M4　　 (5 depth) 50(M4ﾅｯﾄ挿入) (M4 nut insertion) 2-φ5H6 (rear view) (後面) (4 depth) 〈B部詳細〉 φ10 h6 M5　 (10 depth) 〈A部詳細〉 Be sure to leave a space of 30cm or more between the rear of the robot and the wall or any other obstacle when you install the Warning robot.

  • Page 41: Unit Fixtures (4 Locations)

    4.2 Unit Fixtures (4 locations) 4.2.1 Common to the JR3200 Series There are rubber feet attached (ϕ 30) in four places. To secure the unit, use the M8 screws in the four places where the rubber feet are attached. Note that dimensions within the brackets above are for reference only and may change depending upon unit assembly.

  • Page 42: Common To The Jr3300 Series

    4.2.2 Common to the JR3300 Series There are rubber feet attached (ϕ 27) in four places. To secure the unit, use the M8 screws in the four areas where the rubber feet are attached, and be sure to use spacers with a height of 20mm or more (as clearance for any protrusions). Example: JR3303N-AC -φ...

  • Page 43: Common To The Jr3400 Series

    4.2.3 Common to the JR3400 Series There are rubber feet attached (ϕ 27) in four places. To secure the unit, use the M8 screws in the four areas where the rubber feet are attached, and be sure to use spacers with a height of 20mm or more (as clearance for any protrusions). Example: JR3403N-AC 4-φ27 (rubber foot)

  • Page 44: Teaching Pendant (Optional)

    4.3 Teaching Pendant (Optional) If you are using the teaching pendant as a monitor in Run Mode, install it at a height of 60cm or above for easy operation. Emergency Stop Switch (optional) NOTE The teaching pendant is optional. From here onwards, the description “optional” is omitted. Specifications Desktop Robot JR3000...

  • Page 45: Switchbox

    4.4 Switchbox NOTE Please install the switchbox at a height of 60cm or more for easy operation. Standard Optional Switch Specifications Optional switch Specifications Desktop Robot JR3000...

  • Page 46: Range Of Movement

    5. RANGE OF MOVEMENT R axis Center Example: JR3204N-AC Axis Robot JR3203 – JR3204 ±360 JR3303 – JR3304 ±360 JR3403 – JR3404 ±360 Specifications Desktop Robot JR3000...

  • Page 47: Attaching Equipment

    6. ATTACHING EQUIPMENT When you want to attach a feeder, tool controller or jig to your robot, there are M4 nut T-slots on the column, and M4 screw holes (JR3200: 8, JR3300: 20, JR3400: 16 screws) on the base which you can use, as shown in the illustrations below.
  • Page 48 JR3300 Series Example: JR3303N-AC M4 screw holes (20) Two vertical M4 nut T-slots (4 sides on the left and right) JR3400 Series Example: JR3403N-AC M4 screw holes (16) Two vertical M4 nut T-slots (3 sides) NOTE Refer to “4. External Dimensions” for the dimensions of the M4 screw holes and the M4 nut T-slots. Specifications Desktop Robot JR3000...

  • Page 49: I/O-Sys

    7. I/O-SYS There are system functions assigned to I/O-SYS. For information regarding the assigned functions, refer to “8. I/O-SYS Function Assignment.” 7.1 Connectors There are two types of I/O polarity: NPN specifications and PNP specifications. After confirming your robot’s polarity specifications, always connect tools (etc.) which are compatible with these specifications.
  • Page 50 JR3300 Series Example: JR3303N-AC I/O-SYS I/O Nameplate JR3400 Series Example: JR3403N-AC I/O-SYS I/O Nameplate Specifications Desktop Robot JR3000...

  • Page 51: Pin Nos. (Robot Side)

    7.2 Pin Nos. (Robot Side) NOTE When connecting an external device, make sure it is compatible with the robot’s I/O polarity. The robot’s I/O polarity can be confirmed on the I/O nameplate. 7.3 Cable Wiring Pin No. Insulator Color Spiral Marking Pin No.

  • Page 52: Output Capacity

    7.4 Output Capacity Use the external device within the rated amperage specified below. If you exceed the values in the table below, the internal circuits may be damaged. Power Supply Internal External Voltage DC24V DC24V Amperage per pin 100mA 100mA (when using DC24V) Total amperage (I/O-SYS + I/O-1) 1.6A or less...

  • Page 53: Input Signal (Npn)

    7.5 Input Signal (NPN) When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply ground are ON. External Power Supply DC24V COM+ (DC24V)

  • Page 54: Output Signal (Npn)

    7.6 Output Signal (NPN) When using an external power supply External Power Supply DC24V #sysOut1 – External #sysOut16 Device COM- (GND) When using an internal power supply (optional) Internal Power Supply DC24V COM + (DC24V) External Device #sysOut1 – #sysOut16 Assigning the wrong wiring to the I/O can damage the internal circuits.

  • Page 55: Circuit Diagram (Npn)

    7.7 Circuit Diagram (NPN) External Power Supply Specifications Specifications Desktop Robot JR3000...
  • Page 56 Internal Power Supply Specifications (optional) Internal Power Supply DC24V Internal Power Supply DC24V Specifications Desktop Robot JR3000...

  • Page 57: Input Signal (Pnp)

    7.8 Input Signal (PNP) When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply ground are ON. External Power Supply DC24V #sysIn1 –...

  • Page 58: Output Signal (Pnp)

    7.9 Output Signal (PNP) When using an external power supply External Power Supply DC24V COM + (DC24V) External #sysOut1 – Device #sysOut16 When using the internal power supply (optional) Internal Power Supply DC24V #sysOut1 – #sysOut16 External Device COM- (GND) Assigning the wrong wiring to the I/O can damage the internal circuits.

  • Page 59: Circuit Diagram (Pnp)

    7.10 Circuit Diagram (PNP) External Power Supply Specifications Specifications Desktop Robot JR3000...
  • Page 60 Internal Power Supply Specifications (optional) Internal Power Supply DC24V Internal Power Supply DC24V Specifications Desktop Robot JR3000...

  • Page 61: I/O-Sys Function Assignment

    8. I/O-SYS FUNCTION ASSIGNMENT The following functions are assigned to I/O-SYS in advance: Name Function Pin No. #sysIn1 Start/Free Free/Start Inhibition/Stop-Start Inhibition/Software #sysIn2 Interlock/Urgent Stop #sysIn3 Program Number LOAD/Free #sysIn4 Program Number 1/Free #sysIn5 Program Number 2/Free #sysIn6 Program Number 4/Free #sysIn7 Program Number 8/Free #sysIn8...

  • Page 62: Fieldbus Function Assignment

    9. FIELDBUS FUNCTION ASSIGNMENT The following input/output functions are assigned to Fieldbus in advance: Name Relay Number Function Ext fbIn1000 1000 Start/Free Free/Start Inhibition/Stop-Start Inhibition/Software fbIn1001 1001 Interlock/Urgent Stop fbIn1002 1002 Program Number LOAD/Free fbIn1003 1003 Free fbIn1004 1004 Free fbIn1005 1005 Free...

  • Page 63: I/O-1 (Optional)

    10. I/O-1 (Optional) I/O-1 is controlled by point jobs/PLC programs. 10.1 Connector There are two types of I/O polarity: NPN specifications and PNP specifications. After confirming your robot’s polarity specifications, always connect tools (etc.) which are compatible with these specifications. I/O Polarity If you are connecting external devices, please make sure they are compatible with your robot’s I/O polarity.
  • Page 64 JR3300 Series Example: JR3303N-AC I/O-1 (optional) I/O Nameplate JR3400 Series Example: JR3403N-AC I/O-1 (optional) I/O Nameplate Specifications Desktop Robot JR3000...

  • Page 65: Pin Nos. (Robot Side)

    10.2 Pin Nos. (Robot Side) NOTE When connecting an external device, make sure it is compatible with the robot’s I/O polarity. The robot’s I/O polarity can be confirmed on the I/O nameplate. 10.3 Function Assignment List Name Function Pin Nos. #genIn1 Free #genIn2...

  • Page 66: Cable Connection

    10.4 Cable Connection Insulator Mark Number Insulator Mark Number Pin No. Pin No. Color Color of Marks Color Color of Marks Blue Green White Orange Brown White Green Gray White Brown White Gray Black White Yellow Black Black Pink Black Yellow Purple White...

  • Page 67: Input Signal (Npn)

    10.6 Input Signal (NPN) When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply ground are ON. External Power Supply DC24V COM+ (DC24V)

  • Page 68: Output Signal (Npn)

    10.7 Output Signal (NPN) When using an external power supply External Power Supply DC24V #genOut5 – External #genOut8 Device COM- (GND) When using an internal power supply (optional) Internal Power Supply DC24V COM + (DC24V) External Device #genOut5 – #genOut8 Assigning the wrong wiring to the I/O can damage the internal circuits.

  • Page 69: Circuit Diagram (Npn)

    10.8 Circuit Diagram (NPN) External Power Supply Specifications Specifications Desktop Robot JR3000...
  • Page 70 Internal Power Supply Specifications (optional) Internal Power DC24V Internal Power DC24V Specifications Desktop Robot JR3000...

  • Page 71: Input Signal (Pnp)

    10.9 Input Signal (PNP) When using an external power supply Input signals are treated as active when the photocoupler is ON. When using an external power supply, the input signals become active when the input pin and the external power supply are ON. External Power Supply DC24V #sysIn1 –...

  • Page 72: Output Signal (Pnp)

    10.10 Output Signal (PNP) When using an external power supply External Power Supply DC24V COM + (DC24V) External #sysOut5 – Device #sysOut8 When using the internal power supply (optional) Internal Power Supply DC24V #sysOut5 – #sysOut8 External Device COM- (GND) Assigning the wrong wiring to the I/O can damage the internal circuits.

  • Page 73: Circuit Diagram (Pnp)

    10.11 Circuit Diagram (PNP) External Power Supply Specifications Specifications Desktop Robot JR3000...
  • Page 74 Internal Power Supply Specifications (optional) Internal Power Internal Power Specifications Desktop Robot JR3000...

  • Page 75: I/O-S (Optional)

    11. I/O-S (Optional) 11.1 Connector JR3200 Series Example: JR3203N-AC/BC I/O-S (optional) JR3300 Series Example: JR3303N-AC/BC I/O-S (optional) JR3400 Series Example: JR3403N-AC/BC Specifications Desktop Robot JR3000...

  • Page 76: Pin Nos. (Robot Side)

    The I/O-S connector attachment is included for connecting a safety device, such as an area sensor, to the robot. Correctly connect the lead wires from the safety device to the I/O-S connector. For further information, refer to “11.3 Safety Device” and the safety device’s instruction manual. Connector type: SRCN6A13-3P (Manufactured by Japan Aviation Electronics Industry, Ltd.) NOTE If you are not connecting a safety device, connect the I/O-S connector with the two lead wires...

  • Page 77: Safety Device

    11.3 Safety Device With this desktop robot the end user can connect a safety device such as an area sensor or door switch, etc., when there is a risk of danger due to some part of the body entering the robot’s work area. I/O-S is an interface for connecting such a safety device.

  • Page 78: Fieldbus (Optional)

    12. FIELDBUS (OPTIONAL) Fieldbus is an optional function for the JR3000 Series. The compatible Fieldbus module types are “DeviceNet”, “Profibus” and “CC-Link”. Make sure you make the Fieldbus settings correctly because the connector shape and settable items differ according to the Fieldbus module type.

  • Page 79: Fieldbus Settings

    12.1 Fieldbus Settings To set up the Fieldbus module type, use the teaching pendant to perform the procedure below, and select the module you want to set up. Refer to the module’s methods of setup for further details regarding each of the items for setup for the Fieldbus module.

  • Page 80: Devicenet

    12.2 DeviceNet 12.2.1 Connector Diagram This module has two status LEDs and one DeviceNet connector. Name Network Status (NS) (LED) Module Status (MS) (LED) DeviceNet Connector DeviceNet 12.2.2 Network Status Status Details Offline or not supplied with power Green LED Online, communication connection complete Green LED blinking (1Hz) Online, communication connection incomplete...

  • Page 81: Settable Contents

    12.2.5 Settable Contents Settable Items Setting/Selection Range Function Word number input is the amount of data input (external PLC writes/sends, robot reads/receives). Set the necessary amount of data in words (1 Read Domain 0 – 127 word is 2 bytes). For DeviceNet, you can set up to Word Amount 127 words.

  • Page 82: Operation Mode (Op) / Status (St)

    12.3.2 Operation Mode (OP) / Status (ST) By looking at the Operation Mode (OP) and Status (ST) LED combinations you can confirm the following statuses: Profibus Module Front LED Data exchange Status Normal ON (green) ON (green) Station number disagreement ON (green) Master/Slave address ON (green)

  • Page 83: Profibus Master (Plc) Settings

    NOTE • The communication format is PROFIBUS-DP slave. • The number of occupied nodes is 1. • The connection speed is set automatically from the master. 12.3.5 Profibus Master (PLC) Settings When setting up the slave (robot) configuration for the Profibus master (PLC), please fulfill the following conditions: 1.

  • Page 84: Cc-Link

    12.4 CC-Link 12.4.1 Connector Diagram This module has two status LEDs and one CC-Link connector. Name Run (RUN) (LED) Error (ERR) (LED) CC-Link Connector CC-Link 12.4.2 Run (RUN) / Error (ERR) By looking at the Run (RUN) and Error (ERR) LED combinations you can confirm the following statuses: Configuration Settings CC-Link Module Front LED...
  • Page 85 Settable Items Setting/Selection Range Function Compatible with two CC-Link versions: Ver.1 Version Number and Ver.2. 1 Station Occupied / Expansion Cyclic Setting x1 2 Stations Occupied / Expansion Cyclic Setting x1 3 Stations Occupied / Word number input and word number output Expansion Cyclic Setting x1 are decided the same as the tables below 4 Stations Occupied /...
  • Page 86 1 Station Occupied/Expansion Cyclic Setting x2 Score Register Number Relay Number Data Input 100 – 107 I/O Input 1400 – 140F Data Output 180 – 186 I/O Output 1C00 – 1C0F 2 Stations Occupied/Expansion Cyclic Setting x2 Score Register Number Relay Number Data Input 100 –...

  • Page 87: I/O-Mt (Optional)

    13. I/O-MT (OPTIONAL) I/O-MT is a connector that connects and controls externally attached devices such as a motor driver for the motor etc. You can set up I/O functions and resolution etc. according to the devices you have. For further details, please refer to the operation manual, Auxiliary Axis Functions. 13.1 Connector NOTE If you are using a JR3200 equipped with I/O-MT, you cannot use I/O-1.

  • Page 88: Pin No. (Robot Side)

    13.2 Pin No. (Robot Side) 13.3 Function Assignment Name Function Pin No. Input MT1 Input 1 Refer to the operation manual Auxiliary Axis Functions. MT1 Input 2 MT1 Input 3 MT1 Input 4 MT1 Input 5 MT1 Input 6 MT1 Input 7 MT1 Input 8 Sensor Input MT1 Z Input...

  • Page 89: Cable Wiring

    Name Function Pin No. Input MT2 Input 1 Refer to the operation manual Auxiliary Axis Functions. MT2 Input 2 MT2 Input 3 MT2 Input 4 MT2 Input 5 MT2 Input 6 MT2 Input 7 MT2 Input 8 Sensor Input MT2 Z Input MT2 Sensor Input MT2 Sensor COM- MT2 Sensor COM+...

  • Page 90: Output Capacity

    13.5 Output Capacity Please adhere to the voltage capacities outlined in the table below. If you exceed the values listed below, the internal circuits may be damaged. Type Rated Output/Input Output Pin MT1 Output 1 – 6 Photocoupler DC24V, 0.1A/pin MT1 Output COM+ Photocoupler DC24V, 0.6A/pin...

  • Page 91: Output Signals

    13.7 Output Signals External Power Supply DC24V #SB1 – External #SB6 Device COM- (GND) Assigning the wrong wiring to the I/O can damage the internal circuits. Specifications Desktop Robot JR3000...

  • Page 92: Circuit Diagram

    13.8 Circuit Diagram Output Input Specifications Desktop Robot JR3000...

  • Page 93: Memory Port

    Also, please note that there are limits to the number of times you can write files to the USB memory. The table below is a list of devices confirmed by Janome; however, please understand this does not guarantee operation on the end-user’s side.

  • Page 94: Teaching Data Backup

    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...

  • Page 95: System Software And Ps Data (Model Setting Data) Updates

    Read 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 readout DATA on the robot (extension CTD) XXX.CTD...

  • Page 96: Memory Port Settings (Administration Settings Mode)

    You cannot update both the system software (model setting files) and PS data at the same time. For PS data, 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 97: Lan Port

    15. LAN PORT 15.1 Connector The robot is fitted with an Ethernet connector (10/100BASE-TX) by standard. The LAN port is on the front of the robot. By using Ethernet to transmit commands and data from a PC, you can use functions such as the ones below: 1.

  • Page 98: Pin Nos. (Robot Side)

    15.2 Pin Nos. (Robot Side) LAN Port Pin Assignment Pin No. Name Function Transmit signal+ Transmit signal- Receive signal+ Not connected Not connected Receive signal- Not connected Not connected Specifications Desktop Robot JR3000...

  • Page 99: Com 1 - 3

    16. COM 1 – 3 16.1 Connector JR3200 Series Example: JR3203N-AC Robot Front Robot Rear COM2 (optional) COM1 COM3 (optional) JR3300 Series Example: JR3303N- AC/BC COM3 COM2 (optional) (optional) JR3400 Series Example: JR3400N- AC/BC NOTE The pin locations for COM 1 – 3 are all the same. Specifications Desktop Robot JR3000...

  • Page 100: Pin Nos. (Robot Side)

    16.2 Pin Nos. (Robot Side) 16.3 COM Connector Pin Connection Host side: D-Sub 9 pin Connector COM1: RS-232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function Receive Data Transmit Data Transmit Data Receive Data Ground Ground Connector: D-SUB 9 Pin Connector: D-SUB 9 Pin COM2 (Optional): RS-232C Port...
  • Page 101 Host side: D-Sub 25 pin Connector COM1: RS-232C Port Robot Host (PC) Terminal Function Terminal Function Pin No. Pin No. Receive Data Transmit Data Transmit Data Receive Data Ground Ground Connector: D-SUB 9 Pin Connector: D-SUB 25 Pin COM2 (Optional): RS-232C Port Robot Host (PC) Terminal Function...

  • Page 102: Tpu (Teaching Pendant Connector)

    17. TPU (TEACHING PENDANT CONNECTOR) 17.1 Connector JR3200 Series Example: JR3203N-AC Robot Front Teaching Pendant Connector JR3300 Series/JR3400 Series Example: JR3303N-AC Teaching Pendant Connector Specifications Desktop Robot JR3000...

  • Page 103: Pin Nos. (Robot Side)

    17.2 Pin Nos. (Robot Side) 17.3 Pin Connections RS422 Interface Name Function Name Function DTP+ Detect connection signal N.C. RD(+) Receive data (+) N.C. Emergency stop switch RD(-) Receive data (-) EMGSW11 contact 1 terminal 1 Emergency stop switch SD(+) Send data (+) EMGSW12 contact 1 terminal 2...

  • Page 104: Circuit Diagram

    17.4 Circuit Diagram Pin.No DTP+ TP RX TP TX Safety Circuit (Port) Filter Enable 6,8 GND (Optional) DTP- (Robot Internal) (External) If using a teaching pendant equipped with an emergency stop switch, make sure to connect pins 19 – 24 in pairs: 19 – 20, 21 – 22, 23 – 24. Please be Attention careful as connecting them any other way damages the emergency stop circuit.

  • Page 105: Switchbox Connector (Switchbox Specifications)

    18. SWITCHBOX CONNECTOR (SWITCHBOX SPECIFICATIONS) 18.1 Connector NOTE The switchbox connector is only for switchbox specifications. JR3200 Series Example:JR3203N-BC Robot Front Switchbox Connector JR3300 Series, JR3400 Series Example:JR3303N-BC 18.2 Pin Nos. (Robot Side) Specifications Desktop Robot JR3000...

  • Page 106: Circuit Diagram

    18.3 Circuit Diagram Emergency stop Pin No. Function input circuit to Emergency stop input to CPU (a signal so the robot can recognize whether or not the emergency stop switch is pressed). Motor driver 11 – 14 Motor driver power supply relay input power circuit To connect the emergency stop switch, connect it between pins 15 –...

  • Page 107: Command List

    19. COMMAND LIST If you assign point job data that contain any of the highlighted ( ) commands to a CP passing point, the commands are ignored. 19.1 Point Job Data Command Necessary Parameter Description Output Destination Output ON. reset Output Destination Output OFF.
  • Page 108 Command Necessary Parameter Description delay Delay Time Stop for the exact specified time. dataIn Numeric Variable Name, Input Read numeric data from the I/O. Bit Number, Input Source dataInBCD Numeric Variable Name, Input Read numeric data in BCD from the I/O. Bit Number, Input Source waitStart –...
  • Page 109 Command Necessary Parameter Description Distance, Speed Raise Z downZ Distance, Speed Descend Z movetoZ Distance, Speed Move Z Make an axis move a specified distance (relative distance) at a specified speed in a CP line movement (relative move command). Entering this command displays the specified speeds, directions and distances of each axis Speed, Movement/Rotation as follows:...
  • Page 110 Command Necessary Parameter Description Variable Type, Variable declare Local variable declaration Name Assign the right side sum results of the expression Expression to the left side variables. The symbols +, -, *, /, =, (, ), & can be used. Character String One line comment crem...

  • Page 111: Execute Conditions

    19.2 Execute Conditions Command Necessary Parameter Description Boolean variable or expression Input ON. Boolean variable or expression Input OFF. Boolean variable or expression Serial input ON. Boolean variable or expression Serial input OFF. Boolean variable or expression Parallel input ON. Boolean variable or expression Parallel input OFF.

  • Page 112: Variable List

    20. VARIABLE LIST With this robot you can use built-in variables (which are built into the robot as functions), and user-defined variables (which can be freely defined by the user). User-defined Variables Except for local variables (variables valid only in defined point job data which are defined by the declare command), user variables are defined in the Customizing Mode.
  • Page 113 The Fieldbus variables: #fbln/#fbOut are described as follows: • #fbIn (I/O address, bit width) • #fbOut (/IO address, bit width) NOTE • Specify the I/O address as 4 hexadecimal digits continuing on from 0x. • You can specify a bit width of 1 – 32 and up to 2 words (4 bytes) maximum. However, if the address specified exceeds the output area due to the Fieldbus settings, the exceeded bits are not included.
  • Page 114 Category Type Identifier Description Add 1 when #seqTCount reaches the specified #seqT (1 – 99) value or greater. #seqTCount (1 – 50): Integrating timer One timer can count 10 – 999,999,999 #seqTCoun (51 – 99): milliseconds. Program Non-integrating timer Add 1 when #seqCCount reaches the specified #seqC (1 –...

  • Page 115: Function List

    21. FUNCTION LIST With this robot, you can use built-in functions (which are built into the robot as an operational function) and user-defined functions. User-defined Functions: These are defined in Customizing Mode. (Refer to the operation manual Functions IV (Customizing) for details about Customizing Mode.) Built-in Functions: In the character and expression entry screen, when [BFunc] is displayed at the very bottom of the LCD screen (above the F2 key), push the F2...
  • Page 116 x, y: Numerical value or numerical variable n, m: Round the numeric value up or off to the specified digit(s) a, b: String or string variable Category Type Identifier Description strPlusLLCD Teaching pendant LCD: Left priority; Items on the left are (a,b) displayed in full if there is an overlap.
  • Page 117 x, y: Numerical value or numerical variable n, m: Round the numeric value up or off to the specified digit(s) a, b: String or string variable Category Type Identifier Description str2SILE (x) Rounds a numeric value to a 2-byte signed integer to convert it to a 2-byte string using the Little Endian byte order.
  • Page 118 x, y: Numerical value or numerical variable n, m: Round the numeric value up or off to the specified digit(s) a, b: String or string variable Category Type Identifier Description val8DLE (a) Converts the top 8 characters to a double-precision decimal float using the Little Endian byte order.

  • Page 119: System Flag List

    22. 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.
  • Page 120 Identifier Description Condition “1” (True) ON (the emergency stop 63 #FemgSW EMG direct input switch is pressed.) 64 #Fios I/O-S direct input Circuit open (disconnected) 71 #Fsensor1 X initialization position detection sensor ON (Blocked) 72 #Fsensor2 Y initialization position detection sensor ON (Blocked) 73 #Fsensor3 Z initialization position detection sensor...

  • Page 121: Error Message List

    23. ERROR MESSAGE LIST When an error occurs, the program number display on the front of the main unit alternately displays “Er” and the error number. Also, you can confirm the time and date the error occurred and the error number from [Error History]. The error number and the error content also appear on the teaching pendant LCD.
  • Page 122 Error Error Message Countermeasure Category Error on Point Job Any point job errors that are not as defined as errors Run error 009 to 013, 016, and 042 to 053 are all 008 errors. • There is no Id and ldi for anb and orb in the condition operation command.
  • Page 123 Error Error Message Countermeasure Category 031 Flash ROM Write This is a writing error which occurs when saving C&T System error Error data. Printed circuit board A needs replacing. Please contact the dealer from whom you purchased the robot. 035 Teaching data SUM When the robot’s power is turned ON, stored C&T System error error...
  • Page 124 B (unit), the motor, or cables*. The malfunctioning component needs to be replaced. * For replacement of cables, contact Janome Sewing Machine (contact details on the back of this manual), or your dealer.
  • Page 125 Error Error Message Countermeasure Category 085 Incorrect Use This error occurs if the system program application System error and the C&T data application are different. For example, if you load a “Standard” system program onto a robot that has “Dispensing” programs registered, this error occurs when the power is turned ON.
  • Page 126 Error Error Message Countermeasure Category X Sensor/Motor This error occurs if the X sensor does not go ON System error Error (blocked)/OFF after rotating the X motor according to the preset pulse output at mechanical initialization. If the X motor is rotating, the error has been caused by a sensor malfunction.
  • Page 127 Error Error Message Countermeasure Category Trap Error When a trap error occurs, it is not shown on the System error display. A short buzzer sounds twice. Turn the power OFF and then ON again and the error and error number are displayed on the teaching pendant LCD. This is likely a printed circuit board A malfunction.

  • Page 128: Specifications

    24. SPECIFICATIONS Common to JR3000 Series Movement Method 5-phase stepping motor movement Control Method PTP (Point to Point) control, CP (Continuous Path) control Interpolating Function 3-Dimensional linear and arc interpolation X and Y axes 0.005mm/Step Resolution Z axis 0.0025mm/Step R axis 0.009deg/Step...
  • Page 129 Common to JR3000 Series COM1 RS-232C. External device control. COM2 RS-232C. External device control. (optional) COM3 RS-232C. External device control. (optional) Connects USB memory. • Read C & T data • Save C & T data MEMORY • Update the system software version •...
  • Page 130 JR3200 Series Model 3203(E) 3204(E) Specifications Axis Type 3 (synchronous control) 4 (synchronous control) X axis 200mm Y axis 200mm Operating Range Z axis 50mm R axis – ±360deg Workpiece Portable Mass Tool 3.5kg Acceptable Moment of Inertia – 65kg·cm X and Y axes 700mm/sec (7 –...
  • Page 131 JR3300 Series Model 3303(E) 3304(E) Specifications Axis Type 3 (synchronous control) 4 (synchronous control) X axis 300mm Y axis 320mm Operating Range Z axis 100mm R axis – ±360deg Workpiece 15kg Portable Mass Tool Acceptable Moment of Inertia – 90kg·cm X and Y axes 900mm/sec (8 –...
  • Page 132 JR3400 Series Model 3403(E) 3404(E) Specifications Axis Type 3 (synchronous control) 4 (synchronous control) X axis 400mm Y axis 400mm Operating Range Z axis 150mm R axis – ±360deg Workpiece 15kg Portable Mass Tool Acceptable Moment of Inertia – 90kg·cm X and Y axes 900mm/sec (8 –...
  • Page 133 MEMO Specifications Desktop Robot JR3000...
  • Page 134 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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