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
JANOME CARTESIAN ROBOT
Operation Manual
Thank you for purchasing this Janome Robot.
• Before using your robot, 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.
JR3000 Series
JC-3 Series
Quick Start
Original Instructions

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Summary of Contents for Janome JR3000 Series

  • Page 1 JC-3 Series Operation Manual Quick Start Thank you for purchasing this Janome Robot. • Before using your robot, 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 This manual covers the JR3200, JR3300, JR3400, JR3500, JR3600, and the JC-3 Series. There are several manuals pertaining to these robots. Manual Details JR3000 JC-3 JS3 • For Your Safety Be sure to thoroughly read “For Your Safety” as it contains important safety information. (Refer to the operation manual Special Specifi...
  • Page 3 Warning Do not handle or operate the robot in ways not covered in the manuals listed here. Contact Janome (listed on the back of this manual) for repairs. Failure to do so can cause electric shock or injury. Caution To make full use of the machine’s functions and capabilities, make sure that you...
  • Page 4 • For information regarding optional additions for this robot, refer to “24. SPECIFICATIONS” in the operation manual Specifi cations for the JR3000 Series, “14. SPECIFICATIONS” in the operation manual Specifi cations for the JC-3 Series. The notation “optional” is not used in the main text of this manual except for diagrams.

  • Page 5: Table Of Contents

    CONTENTS PREFACE ............................1 FOR YOUR SAFETY ........................6 1. OPERATION FLOW ........................22 2. ROBOT OPERATION (PTP MOVEMENT) ................24 2.1 Initialization .......................... 26 2.2 Teaching ..........................27 2.2.1 Select a Program Number ..................... 27 2.2.2 Enter the Point Positions ....................28 2.2.3 Work Home Entry ......................
  • Page 6 4.5 Program Test/Run ........................ 59 5. USEFUL KEY FUNCTIONS ...................... 60 6. OPERATION MANUALS TO REFER TO WHEN TEACHING ........... 61 7. SAVING DATA ........................... 62 Quick Start DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3...

  • 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 ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ 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 robot setup etc., we ask that you perform a risk assessment on your side and take any necessary safety measures.
  • Page 9 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ If Using Auxiliary Axis Functions in a Way that Require Safety Measures Danger When power to the robot is ON, never enter the safety guard or put your head, hands, or any part of your body inside.
  • Page 10 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ If Using Auxiliary Axis Functions in a Way that Require Safety Measures Warning Construct safety guards that are strong enough to protect the operator against such dangers as the tool or workpiece splintering, etc.
  • Page 11 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Danger Do not use where flammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions or fire. Warning Use protective gear such as a helmet, protective gloves, protective goggles, and safety shoes when installing the robot and performing maintenance.
  • Page 12 IP Protection Rating: IP20. If anything unusual occurs, such as a burning smell or unusual sound, stop operation and unplug the power cord immediately. Contact Janome (details on the back of this manual) or a Janome dealer. Continuing to use the robot without addressing the problem causes electric shock, fire, or unit breakdown.
  • Page 13 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Caution Do not drop or jar the unit during transport and/or installation. This can cause injury or damage the unit. Before performing any operation, ensure there is no imminent danger to any of the operators. Failure to do so causes injury.
  • Page 14 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JR3000 Series ■■■■■■■■■■■■■■■■■■ Caution When attaching tools, a USB camera, or any other device, 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...
  • Page 15 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Industrial Robot Safety Standards Make sure to use the robot in accordance with the laws and guidelines of the country where it is used. Quick Start DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3...
  • Page 16 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Do not use where flammable or corrosive gas is present. Leaked gas accumulating around the unit causes explosions or fire. Always set up safety guards. Anyone within the maximum reach of the robot may be injured. Using the included EMG-OUT connector (unit), set up an emergency stop interlock system that is triggered when the entrance to the safety guard is opened and make sure this entrance is the only way to access the machine.
  • Page 17 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Construct a safety circuit before operating the robot. Use the EMG-OUT connector (unit) to maintain safety by installing a relay such as an external stop device on the power supply line which cuts the DC 48 V power input.
  • Page 18 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Keep the emergency stop switch within reach of the operator when running or operating the robot. If the robot is operated when the emergency switch is not within reach, it may not be possible to stop the robot immediately and safely.
  • Page 19 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Warning With the 3 axis specifications, if releasing the brake, do so after either removing the attached tool or taking measures to prevent the tool from dropping. If you release the brake when turning the power ON in Teaching Mode, Switch Run Mode, or External Run Mode, the axis may drop down depending on the mass attached to the Z axis.
  • Page 20 If anything unusual occurs, such as a burning smell or unusual sound, stop the run, unplug the controller power cord from the power outlet, and make sure there is no electrical current. Contact Janome (details on the back of this manual) or a Janome dealer.
  • Page 21 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Caution 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 or after every 750 hours of operation. Failure to do so causes injury or breakdown.
  • Page 22 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Caution When using the external safety circuit using the EMG-OUT connector (unit) and the emergency stop device is activated, make sure to release the emergency stop after resolving the cause of the emergency stop. Failure to do so can cause injury or unit breakdown.

  • Page 23: Operation Flow

    1. OPERATION FLOW To run a program, the robot goes through various processes. Before anything, a program needs to be created to operate the robot. The operation flow up until the robot starts running is summarized in the diagram below. The actions of program creation and entering given settings, etc., into the robot are called “teaching”.
  • Page 24 A program is made up of program individual settings contained in a string of point data. Point data is made up of two elements: various “coordinates” for each individual point and “type”; a method of moving to the next point. Using these as a framework, point job data (command strings used to move the robot) etc., are added to the point data to fill out the program.

  • Page 25: Robot Operation (Ptp Movement)

    Coordinates Point Type X:20 mm, Y:80 mm, Z:30 mm, R:0 deg PTP Point X:70 mm, Y:120 mm, Z:30 mm, R:0 deg PTP Point ■ JR3000 Series Point 1 Point 2 Example: JR3203N-AC Quick Start DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3...
  • Page 26 ■ JC-3 Series Point 1 Point 2 Example: JC-3B01-0H4 There is a point type for every point, and the method of moving to the next point varies depending on this point type. A PTP (Point to Point) point is a point type by which the robot makes a PTP movement to the next point.

  • Page 27: Initialization

    100 Ω or less. Improper grounding causes electric shocks, fires, malfunction, and unit breakdown. Turn ON the power switch (on the rear of the robot with JR3000 Series, and on the front of the controller with the JC-3 Series).

  • Page 28: Teaching

    2.2 Teaching 2.2.1 Select a Program Number The following is an example of selecting program number 3 (unregistered). Select a program number for teaching. If there are no registered programs, the program number entry screen shown to the right appears when Teaching Mode is started up.

  • Page 29: Enter The Point Positions

    After selecting the program number, the Program 3 new position entry screen for point number 　X 0 mm 　Y 0 mm 1, shown to the right, appears. 　Z 0 mm 　R 0 deg NOTE: INIT appears as W.HOME for JC-3 absolute encoder models. FUNC JOG MDI INIT...
  • Page 30 ■ JR3000 Series Coordinate System Y = 0 Y Axis Z = 0 Z Axis R Axis X = 0 X Axis Example:JR3204N-AC ■ JC-3 Series Coordinate System Y = 0 Y Axis Z = 0 Z Axis R Axis...
  • Page 31 ■ Key Specifications during JOG entry Moves the X axis in the + direction (JR3000 Series). Moves the X axis in the - direction (JC-3 Series). Moves the X axis in the -direction (JR3000 Series). Moves the X axis in the + direction (JC-3 Series).
  • Page 32 The range of each axes’ movement in JOG mode is limited by the move area limit. If the axes exceed certain coordinates and are not able to operate, check [Move Area Limit] in All Program Common Settings or Individual Program Settings. If you want to move the axes using one of the corresponding keys on the teaching pendant when using a teaching pendant with an enable switch (optional), do so by pressing the key which moves the axis you want while pressing the enable switch.

  • Page 33: Work Home Entry

    2.2.3 Work Home Entry A work home can be registered in both individual program settings and program common settings. By specifying the work home as “common/individual”, you can switch between the two and select which one to apply. Enter the following work home position coordinates: Point Number Coordinates Common Work Home...
  • Page 34 The position entry screen shown to the right Program 3 Common Work Home appears. ＞ X 0 mm 　Y 0 mm In this example, enter the coordinates using 　Z 0 mm MDI Mode. 　R 0 deg The highlighted [JOG] or [MDI] in the last line on the screen is the position entry mode currently selected.

  • Page 35: Point Type

    ENTR Sets the coordinates and returns the screen to the point settings screen. Returns to the previous screen or to the base screen only when editing. NOTE: The GO key movements for each axis displayed on the point value settings screen are also valid.

  • Page 36: Program Test

    2.3 Program Test After completing all the point teaching and individual program settings, perform a program test. After registering new programs or modifying registered programs, always check your data and do a [Point Run]/[Test Run] before starting the actual operations. 2.3.1 Point Run Press the CURSOR key to display...

  • Page 37: Data Check

    2.3.2 Data Check Test Menu Press the UTILITY key. The utility menu Checking Data appears. Select [Test Menu]. The test menu Test Run shown to the right is displayed. I/O Test Test Run (Check I/O) Select [Checking Data]. I/O Test (Fieldbus) Test Run (Fieldbus Check I/O) The movement range and point types for the Check I/O (Fieldbus) program are checked.

  • Page 38: Test Run

    2.3.3 Test Run Select [Test Run] from the Test Menu. For your safety, the maximum speed is limited to 250 mm/s in the [Test Run]; otherwise, the robot will perform a cycle of operation in exactly the same way as with an actual operation (registered point jobs and additional functions are also executed).

  • Page 39: Run

    2.4 Run Actually run the registered program. 2.4.1 Changing Modes Press the MODE key at any mode base screen to display the mode selection menu. Select [Switch Run Mode] to enter Switch Run Mode. • External Run Mode A mode to run programs (run starts from I/O-SYS, COM1, Fieldbus, or Ethernet) •...
  • Page 40 When the teaching pendant is connected, the LED on the teaching pendant lights up according to the current mode. LED Names Color Lamp Condition ERROR Lit when an error has occurred. Green or Red* Lit during External Run Mode or Switch Run Mode. TEACH Green Lit during Teaching Mode.

  • Page 41: Run Start

    2.4.2 Run Start Press the start switch on the robot (JR3000 Series) or switchbox. The robot starts to run the selected program. Robot: Example: JR3203N-AC Switchbox Example: JR3000 Series Switchbox Specs Start/Stop Switch Example: JC-3 Series Optional Always perform a test run before running a program for the first time.

  • Page 42: Emergency Stop

    (New Model) (Conventional Model) * The emergency stop switch on the teaching pendant is optional for the JR3000 Series. ■ Releasing the stop switch Confirm it is safe to release the emergency stop switch, then turn the pressed down switch in a clockwise direction to release.
  • Page 43 • With the JC-3 Series, an emergency stop is also activated when the DC 48 V power supply is cut OFF. If this happens, turn the DC 48 V power supply ON and execute mechanical initialization. Note however that if the robot is in Run Mode and the axes are out of the move area limit, a move area limit error occurs.

  • Page 44: Robot Operation (Point Job)

    3. ROBOT OPERATION (POINT JOB) As an example, the explanation here uses a robot doing a pick and place operation with a hand tool connected to it. Here the program registered (taught) in the previous chapter, “2. ROBOT OPERATION (PTP MOVEMENT),”...

  • Page 45: Preparation

    3.1 Preparation Refer to “2.1 Initialization” and start the robot in Teaching Mode. If the program displayed on the screen is different from the one that you created in the previous chapter (“2. ROBOT OPERATION (PTP MOVEMENT)”), press the PRG.NO key and enter the number of the program you created in “2.
  • Page 46 The all program common settings menu shown All Program Common Settings to the right appears. I/O Settings Job and PLC on Run Mode Select [PTP Condition]. Point Reset Settings Other Parameters Work Adjustment (XY) on CP Work Home PTP Condition Not available for the JC-3 series. CP Condition Move Area Limit This is fixed at 7 kg for the JR3200 Workpiece Mass JR3000E only Restart Method After Pos. Offset The PTP condition value settings screen...

  • Page 47: Teaching: Point Job

    In case of contingencies, we recommend starting with the PTP speed setting at 20 % and after seeing how it runs, gradually increase the DEL/CLR key to erase the values. Next, enter 2 0 and press ENTR 20 % Enter a number. is now entered and the screen returns to the PTP Speed 100 %...

  • Page 48: Select The Point Job Data Number

    Point Job Number 6 (Place: After an ON pulse is output to sysOut16, wait for the inputs of sysIn16 and sysIn15 and finish the operation.) Point Job 6 Output ON pulse to sysOut16. (0.1sec) 001 pulse #sysOut16, 100 Wait (until the following condition is met.) 002 waitCond sysIn16 ON input.

  • Page 49: Output Command

    3.3.2 Output Command Enter a command to output an ON pulse Point Job 5 (0.1 sec) to [#sysOut15]. After entering or selecting the point job number, the Point Job settings screen shown to the right appears [001] is a command number. Select [001]. After selecting the command number, the Select Category Point Job Command Category shown to...
  • Page 50 After selecting the point job command, the Output Destination parameter (Output Destination) selection I/O-SYS (sysOut) I/O-1 (genOut) screen in this example shown to the right I/O-FB (fbOut) appears. Select [I/O-SYS (sysOut)]. I/O-Alias Internal Relay (mv) Keep Relay (mkv) After selecting the output destination, the output number entry screen shown to the right appears.

  • Page 51: Wait Condition Command

    3.3.3 Wait Condition Command Enter the wait condition command [waitCond]. The robot waits until the condition command between this command and the [endWait] command is met. After entering all the necessary parameters, Point Job 5 the screen returns to the point job value 001 pulse #sysOut15, 100 settings screen shown to the right.

  • Page 52: Condition Command

    3.3.4 Condition Command Condition Enter the condition command. Select Command Number 003. Select [Condition] from the point job command category selection screen. Select [ld] from the command selection screen shown to the right. After selecting the point job command, Input Source the parameter selection screen shown I/O-SYS (sysIn) to the right appears (Input Source in this...
  • Page 53 Enter the end command [endWait] to terminate Point Job 5 the wait condition. 001 pulse #sysOut15, 100 002 waitCond 003　ld　#sysIn15 Select Command Number 005. 004　ani　#sysIn16 Select [if Branch, Wait Condition] from the 005 endWait point job command category selection screen and then select [endWait] from the command selection screen.

  • Page 54: Modify The Point Data

    3.4 Modify the Point Data In this example, change the point job numbers created Point Job Point Number in the previous chapter, “2. ROBOT OPERATION (PTP Number MOVEMENT),” to the point job data numbers created in the previous section, “3.3 Teaching: Point Job.” Press the SHIFT + ESC keys.

  • Page 55: Program Test/Run

    Display the value settings screen for point 2 and change the point job number to 6 according to the same procedures used for point 1. The program and point data modification is now complete. 3.5 Program Test/Run After finishing point teaching for all points, perform a point run, data check and test run, in this order, according to the procedures described in “2.3 Program Test.”...

  • Page 56: Robot Operation (Cp Movements)

    Point 4 Point 5 CP Stop Point CP End Point Example: JR3000 Series Also, add a name to the program. 4.1 Program Number Selection In this example, teach program number 04 (unregistered). Refer to the procedures described in “2.2.1 Select a Program Number”...

  • Page 57: Add A Name To The Program

    4.3 Add a Name to the Program Name the program. The program name is set in [Program Name] Teaching Mode Menu Individual Program Settings in Individual Program Settings. Additional Function Data Settings Point Job Settings Select [Individual Program Settings] from Variable, Function, Alias Settings User Defined Message the Teaching Mode menu shown to the right. PLC Settings All Program Common Settings Teaching Data Copy, Delete, Conversion...
  • Page 58 The corresponding characters are entered according to the character 0 ─ 9 assignment list on the screen. In the example on the previous page, if you press the 8 key once, the letter A is entered. If you press the key twice, the letter B is entered.

  • Page 59: Point Data Entry

    4.4 Point Data Entry 4.4.1 Point Position Entry Enter the coordinates for Point 1. Line Speed Point Number Coordinates Point Type [mm/s] X:120 mm, Y:150 mm, Z:30 mm, R:0 deg CP Start Point 4.4.2 Point Type Enter the coordinates, and press the ENTR Select Point Type PTP Point key (sets the coordinates) to display the point...

  • Page 60: Program Test/Run

    After setting the line speed for the next point (current point number + 1) the new position entry screen appears. Refer to the steps taken to register Point 1, and register Points 2 – 5 according to the following settings: Line Speed Point Number Coordinates...

  • Page 61: Useful Key Functions

    5. USEFUL KEY FUNCTIONS Availability Function SHIFT + JOG Key Position entry JOG Mode Moves the corresponding axis at a high speed. Point setting screen You can edit and insert/delete points. You can EDIT when entering new point also delete, move, or copy a string of designated positions point numbers (point block).

  • Page 62: Operation Manuals To Refer To When Teaching

    6. OPERATION MANUALS TO REFER TO WHEN TEACHING Basic Instructions This manual explains part names, methods for making emergency stops and other such basic knowledge. Teaching Pendant Operation This manual explains the methods for teaching pendant operation. Functions I (Point Teaching) This manual explains point job data and additional functions set to points.

  • Page 63: Saving Data

    7. SAVING DATA Save the registered program and point job data. When saving data, teaching data is saved in combination with customizing data (C&T data). All C&T data is stored in the robot temporarily; however, it is deleted automatically when the power to the robot is turned OFF.
  • Page 64 Machine specifications may be modified without prior notice to improve quality. 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. © 2014–2021 Janome Sewing Machine Co., Ltd.

This manual is also suitable for:

Jc-3 seriesJr3200Jr3300Jr3400Jr3500Jr3600

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