Janome JR3000 Series Operation Manual page 13

4. CP Arc Point
This point is necessary for specifying an arc in a CP movement drawn between the Start of Line
Dispense and End of Line Dispense points. You can set the line speed for this point.
5. End of Line Dispense
This point executes the "dispensing return movement" set in Dispense Conditions once Line
Dispensing (CP movement) finishes. The robot makes a PTP movement to the next point.
6. Wait Start Point
The robot waits at this position until the start button is pressed or until a start signal comes ON.
The robot makes a PTP movement to the next point.
7. Start of Circle Dispense
8. Center of Circle Dispense
By moving in succession from a Start of Circle Dispense point  Center of Circle Dispense point
the robot draws a circle or arc (CP movement). The [Dispenser ON] signal comes ON
automatically at the Start of a Circle Dispense point and goes OFF at the end position of the circle
or arc.
You can set the line speed to the Start of Circle Dispense, and a circle angle to the Center of Circle
Dispense points.
You can set up to ±9999.999 deg. for the circle angle in increments of 0.001 deg. If the value of the
circle angle is positive, the robot makes an arc counterclockwise (when looking from above the
front of the robot) as illustrated below. After the dispenser is turned ON at the Start of Circle
Dispense point, the robot stands by for the prescribed [Wait Time at Start] set in "Dispense
Conditions", and then moves to the circle or arc end position by CP movement. At the circle or arc
end position, the robot executes the "dispensing return movement" set in Dispense Condition.
Circumference Angle: -90°
Moves from the previous point by
(7) Start of Circle
Dispensing Specifications
PTP Movement
Dispense
+X
+Y
Moves to the next point by PTP movement
Moves to the next point by PTP movement
(8) Center of Circle
Dispense
Circumference Angle: 180°
12 Desktop Robot JR3000