Page 1 JS3 Series Operation Manual Camera & Sensor Functions 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”...
Page 2: Preface
PREFACE This manual covers the JR3200, JR3300, JR3400, JR3500, JR3600, JC-3, and the JS3 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.
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...
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, and "15. Specifications" in the operation manual Basic Intructions for the JS3 Series.
Page 5: Table Of Contents
CONTENTS PREFACE ............................1 FOR YOUR SAFETY ........................8 1. FUNCTION OVERVIEW ......................46 1.1 Specialized Point Types ....................... 46 1.2 Camera and Sensor Functions .................... 47 1.2.1 Camera Adjustment (XY Adjustment) Functions ............47 1.2.2 Camera Adjustment Example ..................48 1.3 How to Use the Camera Functions ..................
Page 6 2.1.15 Addendum 2: Adjusting Multiple Points ............... 79 2.1.16 Addendum 3: Calibration Settings (Simple Settings)........... 80 2.2 Practical Application: Shooting a Workpiece Larger than the Camera’s Field of View ... CCD Camera Adjustment (Double Camera/4-Point Camera)............. 82 2.2.1 Create a New Program....................83 2.2.2 Tool Data Settings ......................
Page 7 2.4 Practical Application Example .................... 117 2.4.1 Teaching Example of a Pallet Routine ................. 117 2.4.2 Teaching Example using Increment by Point Job ............118 3. POINT JOBS (PALLET) AT POSITIONS PHOTOGRAPHED WITH THE CAMERA ....119 3.1 Connection ......................... 119 3.2 Create a New Program ......................
Page 8 5.3 Tool Data Settings ......................144 5.4 Register the Work Home Position ..................144 5.5 Register the Point Positions ....................145 5.6 Move to the Height Measuring Point .................. 145 5.7 Create and Set the Additional Function Data Workpiece Adjustment ........ 146 5.7.1 Workpiece Adjustment ....................
Page 9: For Your Safety
FOR YOUR SAFETY The safety notes outlined below are provided in order to ensure safe and correct usage of the product, and to prevent injury to the operator or other people, and damage to property. ・・・・・Be sure to follow the safety guidelines detailed here・・・・・ Symbols are also listed alongside the safety note explanations.
Page 10 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 11 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 12 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 13 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 Make sure that you securely install the unit in a place that can fully withstand both the unit’s weight and its usage.
Page 14 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 15 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 16 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 17 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. Camera & Sensor Functions Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 18 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, 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 19 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Danger Construct a safety circuit before operating the robot. Use the EMG OUT connector 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. Construct the safety circuit so it operates as a category 0 stop when the emergency stop switch is pressed.
Page 20 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 21 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 22 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 23 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 24 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Caution When using the external safety circuit using the EMG-OUT connector 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 25 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 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. Camera & Sensor Functions Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 26 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Installation Robot Unit Danger Anyone within the maximum reach of the robot may be injured. Install safety guards in adherence with the following: • The safety guards cannot easily be moved. •...
Page 27 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Danger Do not remove the ﬁxing plates from the robot arm until after transportation is complete. Failure to do this can cause injury or breakdown. If temporarily placing the robot on a mount, etc., make sure to secure the robot to the mount by tightening 2 or more bolts into the mounting holes on the mounting base to prevent the robot from tipping over.
Page 28 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Avoid using the robot in operating environments such as the ones below. If using the robot in environments such as these, take measures to protect the robot from the direct effects of the work environment. •...
Page 29 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Firmly fix the robot to a specified horizontal mounting surface using the mounting bolts and make sure that positional displacements cannot occur. Install the robot in a location that provides enough clearance to replace the battery at the front of the robot and enough clearance to connect the motor power cable and the encoder cable to the back of the robot.
Page 30 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution If connecting cables or hoses to the hand, make sure they do not restrict the robot movements and make sure the robot operations do not cause the cables or hoses to get tangled and/or cause them to break. Improperly attached cables or hoses can cause breakdown.
Page 31 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Make sure to isolate the robot motor power cable, the encoder cable, and external I/O cables from the power cable or grounding wire of other devices. Also make sure the external I/O cables are shielded. Do not apply voltages to terminals other than those specified in the operation manuals.
Page 32 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Use the unit in an environment where no electrical noise is present. Noise may cause unit malfunction or breakdown. Do not use the machine in an environment that is damp or dusty. Dust and moisture can cause malfunction or breakdown.
Page 33 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Danger Mount the controller outside of the safety guards in a location where the switches can easily be reached and the controller can always be monitored by the operator without turning their back on the robot unit itself. Mount the controller so that the operation panel is 600 mm or more above ﬂoor level for maintenance work.
Page 34 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Leave approximately 200 mm or more clearance from the front of the controller so there is no stress on the connectors and enough room to work. Failure to do so can cause malfunction or breakdown. In addition to the clearance required for installation, leave sufficient space around the controller for removing covers (with a screwdriver) as a contingency for maintenance work.
Page 35 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Do not apply pressure to any protruding parts, such as a switch, the terminal block, or a connector when transporting the controller. Doing so can cause breakdown. If you want to use the controller, operation box (optional), or teaching pendant as a monitor while in Run Mode, mount the respective device 600 mm or more above ﬂoor level in an easily accessible place so that the emergency stop switch can be immediately reached in the event of an emergency.
Page 36 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Usage Robot Unit Warning If objects that the robot grasps have a risk of falling or being projected, take into account the size, mass, and chemical composition of the objects for the required safety precautions.
Page 37 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution If manually moving the robot arm, do so slowly. Moving the arm at high speed can cause large amounts of backlash, reducing the robot’s accuracy and damage the backup data. Depending on the arm pose, the shaft may come in contact with the robot base even when operating the robot within the work envelope.
Page 38 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Robot Unit and Controller 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. Entering the safety guards could result in injury. When changing modes or starting a run, first confirm there are no people inside of the safety guard and there are no obstacles that could interfere with the run.
Page 39 OFF. Unplug the power cord after conﬁrming there is no power supplied to the robot and then contact Janome or a Janome dealer. Continuing to use the robot without addressing the problem causes electric shock, fire, or unit breakdown.
Page 40 Diagnostic Mode and Mechanical Adjustment Mode are for maintenance personnel* use only. * Maintenance personnel are individuals who have received maintenance training from Janome or from a Janome dealer. Camera & Sensor Functions...
Page 41 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Warning Do not touch the terminal block when there is an electrical current present. Touching the terminal block can result in electric shock or injury. Caution Keep the emergency stop switch within reach of the operator when running or operating the robot.
Page 42 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Safety Precautions Regarding Maintenance Robot Unit Warning Do not touch or come in contact with any potentially hot components on the robot. Doing so can result in burns and serious accidents. The servomotor may get hot. Do not touch or come in contact with the servomotor while the power is ON, only do so when the power is OFF and after it has cooled down.
Page 43 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Robot Unit and Controller Danger If entering the safety guards, turn the power source circuit breaker OFF, lock and tag it, and then make sure there is no power supplied to the robot before continuing.
Page 44 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning When inspecting or performing maintenance on the controller, make sure there is no electrical current and perform the following: • Lockout/tagout with the power source circuit breaker in the OFF position, and remove the power cords from the terminal block. •...
Page 45 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution For a smooth and long operating life, lubricate the shaft once for every 2,000 km the robot is run. If the robot is run for 24 hour periods, lubricate the machine more frequently because the running time between lubrication periods is longer.
Page 46 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Controller Danger Before entering the safety guard because of something wrong with the robot or a peripheral device, or to inspect or lubricate the machine etc., always make sure to turn the controller and power source circuit breakers OFF, lock and tag them, and make sure there is no electrical current.
Page 47: Function Overview
1. FUNCTION OVERVIEW 1.1 Specialized Point Types • Single Camera Shoot Point The robot makes a PTP movement and photographs marks on the workpiece. The adjustment values from the workpiece adjustment data set in [Ref. Work Adj. No.] are applied. You can use these workpiece adjustments by setting them to PTP Points, etc.
Page 48: Camera And Sensor Functions
1.2 Camera and Sensor Functions A robot connected with a camera and a distance/touch sensor, etc., can use the following functions: • Workpiece position discrepancy compatibility • Read workpiece positions with the camera To deal with camera functions, you need the following knowledge: •...
Page 49: Camera Adjustment Example
1.2.2 Camera Adjustment Example This explains an example of a camera adjustment. Example: if dispensing a liquid in the center of the workpiece. • So long as the workpiece is within the camera shooting range, workpiece placement may be done freely. •...
Page 50: How To Use The Camera Functions
1.3 How to Use the Camera Functions To set up camera functions, settings need to be made in an order such as this: ■ Preparation (check the robot and camera’s connection and communication connections) Make sure you prepare a mark (or distinction) on the workpiece for position discrepancy detection Set workpiece information to the camera Connect the robot and the camera Set the communication settings for the robot and camera...
Page 51: Preparation 2: Setting Workpiece Information To The Camera
1.3.2 Preparation 2: Setting Workpiece Information to the Camera Take a photo of a workpiece that already has marks on it, and make camera settings for calibration mark position output. Here, you need to make the following settings on the camera side: •...
Page 52: Preparation 3: Connecting The Camera To The Robot
Warning Always make sure that the robot’s power switch (circuit breaker for the JS3 Series) is OFF when making connections. Failure to do so can cause electric shock and injury. ■ JR3000 Series Panasonic A210 Connection Example Keypad Monitor RS-232C...
Page 53 ■ JR3000 Series CV-X100 Connection Example (Ethernet Connection Example) Keypad Monitor Ethernet hub Power Supply Camera Robot Camera Controler Example: JR3203N-AC （LAN） ■ JC-3 Series Panasonic A210 Connection Example Keypad Monitor RS-232C Dedicated Cable Power Supply Camera Camera Controller Controller Example: JC-3C-3 (COM 1 –...
Page 54: Preparation 4: Making The Robot And Camera Connection Settings
■ JS3 Series Panasonic A210 Connection Example Keypad Monitor RS-232C Dedicated Cable Controller Power Example: JS3-3520 Supply (COM 1, 2*) Camera Camera Controller * Do not set the start channel to the same COM port that the camera is connected to. A camera communication error will occur.
Page 55 • If connecting via Ethernet Connection Ethernet connection is compatible with non-procedural communication. (Refer to the specifications for the camera) In this application, a camera communicates as a server and a robot communicates as a client. The communication protocol for the camera is the same as that for the COM communication. The communication settings of the client port must be set in advance to communicate with the camera.
Page 56 Caution The baud rate changes in Diagnostic Mode are for testing purposes. Once you exit Diagnostic Mode, these revert to the values registered in the COM communication settings in Administration Mode. If you need to change any settings other than the baud rate (character length, stop bit, parity) in Diagnostic Mode, change the COM communication settings in Administration Mode.
Page 57 Set Output String You can set the output string you want here. The default is “JR3000” (JR3000 Series), “JC-3” (JC-3 Series), “JS3” (JS3 Series). Execute Output String The character string set in Set Output String is output from the COM port being checked.
Page 58: Workpiece Adjustment Settings 1: Making Workpiece Adjustment Numbers
1.3.5 Workpiece Adjustment Settings 1: Making Workpiece Adjustment Numbers To set workpiece adjustment functions, you need to make an additional function data workpiece adjustment. In the Teaching Mode menu, select [Additional Function Data Settings]  [Workpiece Adjustment Settings], and create a suitable new [Workpiece Adjustment Number]. Once you select [CCD Camera Adjustment], the following settable items are displayed: CCD Camera Adjustment Menu Overview: Menu...
Page 59: Workpiece Adjustment Settings 2: Calibration (Match Up The Robot And Camera Positioning)
Camera Comm Settings To start with, select [Camera Comm Settings], Camera Preset Type-A1(A210/A110) and select the robot side COM port or client Camera Communication Port COM1 port the camera is connected to and the type of camera connected to the robot. NOTE: You can select the client port when Type-P3 (PV510/PV200), Type- K1(CV3000) or Type-K2 (CV-X100) is...
Page 60 ■ Simple Settings Simple settings, in comparison with manual calibration, are a method for completing calibration in a short period of time. Standard Settings Standard settings are a settings screen for manually setting the calibration marks. With standard settings, photograph multiple calibration marks that are already established on the workpiece.
Page 61: Automatic Calibration Function
Coordinate Conversion Formula X = K * x * cos (ø) – K * y * sin (ø) + ∆ X Y = K * x * sin (ø) + K * y * cos (ø) + ∆ Y Θ = T + ø Camera coordinates (x, y, T), Robot coordinates (X, Y, Θ) Simple Settings Simple Settings is a function whereby the robot, can automatically enter the items entered...
Page 62: Workpiece Adjustment Settings 3: Standard Data Settings (Set The Reference Position)
1.3.7 Workpiece Adjustment Settings 3: Standard Data Settings (Set the Reference Position) The details of each of the items in Standard Data Settings are outlined below. Standard Data Setting Menu Overview Menu Explanation Standard Mark This is the number of marks used as adjustment references. (1 – 7). Number NOTE: If you are adjusting the rotation direction of the workpiece as well, set two or more marks here.
Page 63: Workpiece Adjustment Settings 4: Execute Parameter Setting
Standard Data Setting When acquiring a photographic image, make Standard Mark Number Get Standard Data sure to acquire the photographic image under P1　　X+98　　Y+87　　T+0 the same conditions (workpiece, workpiece P2　　X+126　 Y+132　 T+0 placement position, camera position) as you do during an actual run. Once the photographic image is acquired successfully, the acquired reference data is displayed in P1, P2...
Page 64: Point Teaching 1: Setting A Point For Photographing With The Camera
1.3.9 Point Teaching 1: Setting a Point for Photographing with the Camera For a camera adjustment, you need two points; a photographing point and a point you will adjust based on the results of the photograph. This section explains about the photographing point. Photographing The point adjusted point...
Page 65: Point Teaching: Setting Workpiece Adjustment To Points You Want To Adjust
1.3.10 Point Teaching: Setting Workpiece Adjustment to Points You Want to Adjust Set a workpiece adjustment number to the point that needs position adjustment. By setting a workpiece adjustment, position adjustment can be performed according to the workpiece photography results. The point adjusted based Photographing point off the results of the...
Page 66: Camera Adjustment Related Functions
2. CAMERA ADJUSTMENT RELATED FUNCTIONS You can use the camera adjustment functions in various ways depending on the application. ■ Basic Camera Adjustment Functions and their Uses These are explained using the following examples: Basic Function: Photograph  Adjustment Repeated Alternately ... CCD Camera Adjustment After photographing the workpiece adjustment subject, the adjustment is performed immediately.
Page 67: Create A New Program
Set up [Main TCP Setting] in [Main-Tool Configuration]. • Tool Mass When the camera is mounted on the robot axis set the total weight of the tool and the camera as [Tool Mass]. JR3000 Series Tool Mass Model JR3200 1 kg 3.5 kg...
Page 68: Register The Work Home
JS3 Series Tool Mass Model 1 kg 3 kg 6 kg • TCP-X, TCP-Y If you have the exact TCP values, enter them. If not, select and perform [Direct TCP-XY Setting]. 2.1.3 Register the Work Home Select [Work Home] from [Individual Program Settings] and enter the work home position (coordinates).
Page 69: Workpiece Adjustment Settings
Select [Camera Communication Settings] from the CCD camera adjustment menu and select the COM Port or client port on the robot side (on the main unit for the JR3000 series or on the controller for the JC-3/JS3 Series) which connects to the camera. Also, select the type of camera connected to the robot.
Page 70: Camera Operation: Setting Calibration Marks (Calibration Preparation)
2.1.7 Camera Operation: Setting Calibration Marks (Calibration Preparation) Here, settings on the CCD camera side are made. No robot operations are necessary. To use the camera, first the calibration settings (convert the camera coordinates into robot coordinates) need to be made. To calibrate, first acquire the marks within the camera data acquisition range, and by specifying where these marks are within the robot’s coordinates, the coordinate conversion coefficient between the robot and camera is obtained.
Page 71: Calibration
Marks Workpiece Example Output the center coordinates ■ Calibration Mark Coordinate Output Settings (ASCII text settings) Set the output character strings in the following order on the camera controller side: [Header] [Mark Number] [X –1] [Y – 1] [T – 1] [X – 2] ... [Y – n] [T – n] 1st mark coordinates (C1) 2nd and onward mark coordinates (C2 –...
Page 72 Standard Settings Menu Overview Menu Explanation Standard Settings You can switch to [Simple Settings] here. For further details, refer to “2.1.16 Addendum 3: Calibration Settings (Simple Settings).” Camera Data You can select to always take workpiece photographs from the same Acquisition No position, or to take workpiece photographs from positions that are not Movement...
Page 73: Standard Data Settings
Enter [Calibration Mark Number]. With the workpiece example, there are two marks you want to detect, so enter “2.” Select [Get Calibration Mark]. Once this is selected, the CCD camera takes a photograph, and the image is acquired. Make sure to acquire the photographic image under the same conditions (camera position, focus, and data acquisition range) as you have during the actual run.
Page 74 NOTE: In the workpiece example, the calibration marks and the marks used to confirm the workpiece position during the run are the same; therefore, the camera settings made in “Calibration” can be used. It is not necessary to make new settings on the camera side. If the shape and the number of the marks for confirming the workpiece position during the run are not the same as those of the calibration marks, you need to make new settings for the CCD camera.
Page 75: Execute Parameter Setting
2.1.10 Execute Parameter Setting Select [Execute Parameter Setting] from the CCD camera adjustment menu, and switchover to the item you want to modify. The content of each of the items is as follows: Execute Parameter Setting Menu Overview Menu Explanation Apply Rotation to Select whether or not to apply workpiece rotation (T) to the R axis.
Page 76: Create And Set The Point Job Data
Command for when a Camera Data Acquisition Error Occurs If a camera data acquisition error occurs, an incorrect offset amount is applied to the job point coordinates. In this situation, enter a command to specify the operation for when camera data acquisition errors occur.
Page 77: Addendum 1: Camera Adjustment (Xy Adjustment) With Camera Movement
2.1.14 Addendum 1: Camera Adjustment (XY Adjustment) With Camera Movement The following items are in Calibration Mode: Item Explanation Camera Data Acquisition The camera shoots at the calibrated position. No Movement (If you are always photographing at the same point, or the camera is physically fixed) Camera Data Acquisition The camera also shoots at positions other than the calibrated position.
Page 78 If you create a calibrated workpiece adjustment to match point (1) (camera data acquisition point (1)) and set it to both points (2) and (4), the workpiece adjustment set to point 4 deviates from the correct position. The reason for this deviation is in the workpiece adjustment calculation method. Camera &...
Page 79 ■ Normal Workpiece Adjustment This is a normal workpiece adjustment, carried out as follows: With the example shown to the right, you need to calculate Current workpiece how much to rotate the reference data around the home point (0, 0 in the robot coordinates), and after that, how much to move the reference data in the XY directions so it overlaps with the current workpiece.
Page 80: Addendum 2: Adjusting Multiple Points
In cases such as this, set [Camera Data Acquisition No Movement] to [Camera Data Acquisition Movement] in the workpiece adjustment. When this is set to [Camera Data Acquisition Movement], even if the position where calibration was made and the position of camera data acquisition (camera data acquisition point) during the run are different, the robot coordinates are calculated in reverse, the coordinate conversion coefficient and reference mark positions are recalculated, and the workpiece adjustment is applied correctly.
Page 81: Addendum 3: Calibration Settings (Simple Settings)
2.1.16 Addendum 3: Calibration Settings (Simple Settings) Simple Settings is a function whereby the robot, operating on its own, can automatically enter the items entered manually using Standard Settings. In comparison with standard settings, the following settings are automatically set by “auto calibration”: •...
Page 82 Automatic Calibration Preparation To do automatic calibration, you need to prepare a dedicated calibration mark. Adjust the size of the dedicated calibration mark on the screen so that it is shown as approximately 1/5 of the lateral side of the screen. Note that an error occurs if the calibration mark size is either too big or too small.
Page 83: Practical Application: Shooting A Workpiece Larger Than The Camera's Field Of View
2.2 Practical Application: Shooting a Workpiece Larger than the Camera’s Field of View ... CCD Camera Adjustment (Double Camera/4-Point Camera) With this function you need to set 2 workpiece adjustments and a point job for the double camera. You can also set 4 workpiece adjustments and 4 point jobs for a 4-point camera operation. Workpiece Example With a workpiece position discrepancy Marks...
Page 84: Create A New Program
Set up [Main TCP Setting] in [Main-Tool Configuration]. • Tool Mass When the camera is mounted on the robot axis, set the total weight of the tool and the camera as [Tool Mass]. JR3000 Series Tool Mass Model JR3200 1 kg 3.5 kg...
Page 85: Register The Work Home
JS3 Series Model Tool Mass 1 kg 3 kg 6 kg • TCP-X, TCP-Y If you have the exact TCP values, enter them. If not, select and perform [Direct TCP-XY Setting]. 2.2.3 Register the Work Home Select [Work Home] from [Individual Program Settings] and enter the work home position (coordinates).
Page 86 ■ For 4-point Camera Adjustments Register the positions of the four camera data acquisition points (P01, P02, P03 and P04) and the point where the point job is carried out on the workpiece (P05 below). The following data is assigned to each point for the workpiece position discrepancy adjustment (4-point camera adjustment) operation: P01: Camera data acquisition (imaging) point 1 (shot 1) P02: Camera data acquisition (imaging) point 2 (shot 2)
Page 87: Camera Communication Settings
2.2.5 Camera Communication Settings Select [Camera Communication Settings] from the CCD camera adjustment menu and select the COM Port or client port on the robot side which connects to the camera. Also, select the type of camera connected to the robot. Set the same values which are set in Administration Mode to the camera side.
Page 88: Camera Operation: Setting Calibration Marks (Calibration Preparation)
2.2.7 Camera Operation: Setting Calibration Marks (Calibration Preparation) Here, settings on the CCD camera side are made. No robot operations are necessary. To use the camera, first the calibration settings (convert the camera coordinates into robot coordinates) need to be made. To calibrate, first acquire the marks within the camera data acquisition range, and by specifying where these marks are within the robot’s coordinates, the coordinate conversion coefficient between the robot and camera is obtained.
Page 89 ■ Calibration Mark Settings Set the calibration marks you want to detect on the camera side. Calibration calculation is done on the robot side. NOTE: You do not need to make calibration settings on the camera side. With the camera, make settings to detect the center spot of the “+” mark on the workpiece below. Also, make settings so that both of the identical marks are detected.
Page 90: Calibration
Example 1: Both X and Y coordinates are possible. Example 2: X coordinate (if the Y coordinate is used, it is difficult to identify which mark is C1.) Example 3: Y coordinate (if the X coordinate is used, it is difficult to identify which mark is C1.) Camera data acquisition areas Ｘ...
Page 91 Standard Settings Menu Overview Menu Explanation Standard Settings You can switch to [Simple Settings] here. For further details, refer to “2.1.16 Addendum 3: Calibration Settings (Simple Settings).” Camera Data You can select to always take workpiece photographs from the same Acquisition No position, or to take workpiece photographs from positions that are not Movement...
Page 92 Select [Get Calibration Mark]. Once this is selected, the CCD camera takes a photograph, and the image is acquired. Make sure to acquire the photographic image under the same conditions (camera position, focus, and data acquisition range) as you have during the actual run. Also, after calibration, do not change the camera data acquisition point coordinates and the camera attachment position etc.
Page 93: Create And Calibrate The Second Workpiece Adjustment
Select [Calculate and Register] from the calibration menu. The coefficient to convert the camera coordinates into robot coordinates is calculated and registered. The calculated values are saved as the following items: • Unit Coefficient • Rotate Angle • X Shifting Amount •...
Page 94: Create And Calibrate The Third And Fourth Workpiece Adjustments (4-Point Camera)
2.2.10 Create and Calibrate the Third and Fourth Workpiece Adjustments (4-point camera) Refer to the second workpiece adjustment and calibration settings to create the third and fourth workpiece adjustments and calibrate the coordinates. The setting procedure is the same as that for the second adjustment.
Page 95 Select [Get Standard Data]. Once selected, the camera takes the photograph and loads the marks from the photographic image. While the robot is running, this data is used as the 1st reference position for calculating the workpiece’s offset amount. At this time, if the number of marks acquired by the camera and the number set in [Standard Mark Number] do not match, an error occurs.
Page 96: Execute Parameter Settings
For 4-point camera adjustments, follow steps 5 and 6 to set the data to P03 and P04. The acquired reference data is displayed in P1, P2 ... P7. The reference data settings are now complete. 2.2.12 Execute Parameter Settings Select [Execute Parameter Setting] from the CCD camera adjustment settings menu for the [Workpiece Adjustment] created according to the first camera data acquisition point, and switch to the item you want to modify.
Page 97: Creating And Setting Point Job Data Example (Double Camera/4-Point Camera Adjustments)
2.2.14 Creating and Setting Point Job Data Example (Double Camera/4-Point Camera Adjustments) ■ Double Camera Adjustment Create two sets of point job data and set them respectively to the two camera data acquisition points. Wait Time Setting To prevent blurring of the photographic image, set a wait time subsequent to the camera data acquisition command.
Page 98 Example of Point Job Data at P01 waitCondTime 500 endWait wCameraWadj 8, S1 Camera data acquisition command (when workpiece adjustment number 8 is the first shot) ld #sysFlag(31) Camera adjustment acquisition error = ON (conditional) then If #sysFlag(31)=1 (true) (if it is an error), goRPoint PTP0, 3 jump ahead three points.
Page 99 Command for when a Camera Data Acquisition Error Occurs If a camera data acquisition error occurs, an incorrect offset amount is applied to the job point coordinates. To prevent this, enter a command to specify the operation for when camera data acquisition errors occur.
Page 100: Create And Set The Point Job Data
Example of Point Job Data at P03 delay 500 let qCameraWadj(8, 3) Camera data acquisition command (when workpiece adjustment number 8 is the third shot) ld #sysFlag(31) Camera adjustment acquisition error = ON (conditional) then If #sysFlag(31)=1 (true) (if it is an error), goRPoint PTP0, 3 Jump ahead three points.
Page 101: Practical Application: After Photographing Multiple Workpieces Together, Adjust Them Together
2.3 Practical Application: After Photographing Multiple Workpieces Together, Adjust them Together... CCD Camera Adjustment with Counter This is a function used when you want to split up “photography” and “adjustments” for multiple workpieces. If you have a large number of workpieces, you can expect this function to reduce your work time.
Page 102 To avoid a situation such as this, you need to handle the workpieces by setting a different workpiece adjustment number to each workpiece for each photograph. Workpiece adjustment Workpiece adjustment no.2 no.3 Workpiece adjustment Workpiece adjustment no.4 no.1 Workpiece adjustment Workpiece adjustment no.8 no.5...
Page 103 Photograph point: 1 - n Adjust point: 1 - n MultiCamWadj incMultiCamWadj Workpiece adjust. amount array (workpiece adjustment number) Adjustment amount [1] Calculate Calculate adjustment adjust. amount Adjustment amount [2] Read counter Write counter Adjustment amount [3] Adjustment amount […] Adjustment amount [n] •...
Page 104: Workpiece Preparation
Caution There is one memory domain (shared by all workpiece adjustments) within the robot for the CCD camera adjustment with counter. If you operate one program with two cameras with counter adjustments, the adjustment values obtained from the first CCD camera with counter are overwritten and lost when photographing is performed with the second CCD camera adjustment with counter.
Page 105: Tool Data Settings
Set up [Main TCP Setting] in [Main-Tool Configuration]. • Tool Mass When the camera is mounted on the robot axis set the total weight of the tool and the camera as [Tool Mass]. JR3000 Series Tool Mass Model JR3200 1 kg 3.5 kg...
Page 106: Workpiece Adjustment Settings
NOTE: When the camera is not attached to the robot axis and the camera position is fixed, it is not necessary to set a dedicated camera data acquisition point. As long as the camera data acquisition point comes before the point where the job is performed on the workpiece, you can set it to a point that also serves as a point for another job (it does not need to be directly before the job).
Page 107: Auto Increment/Increment By Point Job
■ Variables for a CCD Camera Adjustment With Counter #mulWorkAdj_Wrt_Cam Write value of the workpiece adjustment counter #mulWorkAdj_Wrt_Zadj Write value of the Z adjustment counter #mulWorkAdj_Read Read value of the workpiece adjustment counter #mulWorkAdj _Num Workpiece adjustment number of the workpiece adjustment counter Counter data result -1: No data #mulWorkAdj_Result...
Page 108: Camera Communication Settings
2.3.8 Camera Communication Settings Select [Camera Communication Settings] from the CCD camera adjustment with counter menu and select the COM Port or client port on the robot side which connects to the camera. Also, select the type of camera connected to the robot. Set the same values which are set in Administration Mode to the camera side.
Page 109 ■ Calibration Mark Settings Set the calibration marks you want to detect on the camera side. Calibration calculation is done on the robot side. NOTE: You do not need to make calibration settings on the camera side. With the camera, make settings to detect the center of the “+” mark on the workpiece below. Also, make settings so that both of the identical marks are detected.
Page 110: Calibration
2.3.10 Calibration This section explains about the calibration (coordinate conversion) standard settings screen. Acquire the marks with the camera ([Get Calibration Mark]), specify the positions of these marks with the robot ([Robot Coordinate Position]), and calculate the coordinate conversion coefficient between the camera and the robot ([Calculate and Register]).
Page 111 Enter [Calibration Mark Number]. With the workpiece example, there are two marks you want to detect, so enter “2”. Select [Get Calibration Mark]. Once this is selected, the CCD camera takes a photograph, and the image is acquired. Make sure to acquire the photographic image under the same conditions (camera position, focus, and data acquisition range) as you have during the actual run.
Page 112: Standard Data Settings
2.3.11 Standard Data Settings This registers the adjustment reference positions. In this example the calibration marks are registered as the reference positions. Move the robot to P01 (camera data acquisition point). (Press the [GO] key to move the robot to the displayed coordinates.) NOTE: In the workpiece example, the calibration marks and the marks used to confirm the workpiece position during the run are the same;...
Page 113: Execute Parameter Setting
2.3.12 Execute Parameter Setting Select [Execute Parameter Setting] from the CCD camera adjustment setting menu, and switchover to the item you want to modify. The content of each of the items is as follows: Execute Parameter Setting Menu Overview Menu Explanation Apply Rotation to R-Axis Select whether or not to apply workpiece rotation (T) to the R axis.
Page 114: Creating And Setting Point Job Data Example (Camera Adjustment With Counter)
■ Operation Example (Camera error at pallet numbers 1 and 4) Camera Error Camera System Flag Counter Value No. 37 Error Normal Normal Error Normal Normal * The deviation amount cannot be detected for pallet counters 1 and 4 due to a camera counter value error.
Page 115 Command for when a Camera Data Acquisition Error Occurs If a camera data acquisition error occurs, an incorrect offset amount is applied to the job point coordinates. In this situation, enter a command to specify the operation for when camera data acquisition errors occur.
Page 116: Creating And Setting Point Job Data Example (Tool Data)
2.3.15 Creating and Setting Point Job Data Example (Tool Data) Open new point job data. Set a wait time before the camera data acquisition command to prevent image blurring. Use a conditional command such as waitCondTime or delay , etc. For this example, set a wait time of 0.5 seconds.
Page 117: Create And Set Point Job Data
2.3.16 Create and Set Point Job Data Create and set point job data that executes the operations you want to perform (screw tightening, dispensing, etc.) on the workpiece to the points that perform the jobs (the points to where you set the workpiece adjustment).
Page 118: Practical Application Example
2.4 Practical Application Example 2.4.1 Teaching Example of a Pallet Routine By combining a CCD camera adjustment (with counter) with a pallet routine, you may be able to reduce the amount of work time. For example, if you use a CCD camera adjustment (with counter) with a 2x2 plane pallet, it may take time to complete, as the photographing and jobs will be performed reciprocally, causing a lot of movement.
Page 119: Teaching Example Using Increment By Point Job
If teaching is done as shown on the previous page, the robot will operate as follows: 1: Imaging x4 2: Job performed on the workpiece x4 It may depend on the workpiece locations, however, by performing the camera photography first and then performing the jobs later, the amount of movement can be reduced and the operation time shortened.
Page 120: Point Jobs (Pallet) At Positions Photographed With The Camera
COM1 – COM3*1*2 ports on the robot side with the RS-232C dedicated cable. For information regarding each of the connection methods, refer to the camera’s operation manual. ■ JR3000 Series Camera Connection Example Keypad Monitor...
Page 121 ■ JC-3 Series Camera Connection Example Keypad Monitor RS-232C Dedicated Cable Power Supply Camera Camera Controller Controller Example: JC-3C-3 (COM 1 – 3*) * To use COM1 to communicate with a camera, set COM1 Command Communication Function to Invaild. ■ JS3 Series Camera Connection Example Keypad Monitor RS-232C...
Page 122 The following procedures are necessary for using this function. Connect the camera, controller, monitor, keypad and power supply to the robot correctly and set the workpiece in the same manner as it is during a run. “3.2 Create a New Program” “3.3 Tool Data Settings”...
Page 123: Create A New Program
Set up [Main TCP Setting] in [Main-Tool Configuration]. • Tool Mass When the camera is mounted on the robot axis, set the total weight of the tool and the camera as [Tool Mass]. JR3000 Series Tool Mass Model JR3200 1 kg 3.5 kg...
Page 124: Register The Point Positions
3.5 Register the Point Positions Register the positions for the camera data acquisition point (P01) and for the point that performs the job on the workpiece (P02). Below is an example using 3 job points. When the camera is not attached to the robot axis and the camera position is fixed, it is not necessary to set a dedicated camera data acquisition point.
Page 125: Open Repeat By Camera
3.7 Open Repeat by Camera Open a new [Pallet Routine Data Settings] from [Additional Function Data Settings]. Select [Repeat by Camera] as the pallet type. Enter the control method for the pallet counter and the maximum number of workpieces. For the maximum number of workpieces, enter the maximum number of workpieces (the “O”...
Page 126 As long as the marks fit into the camera data acquisition range, the calibration marks and the marks used for indicating the workpiece position during runs do not need to be the same. If there is no mark present on the workpiece useable as a calibration mark, you can affix a sticker with a mark to the workpiece, or use something other than the workpiece.
Page 127 ■ Calibration Mark Settings Set the calibration marks you want to detect on the camera side. Calibration calculation is done on the robot side. NOTE: You do not need to make calibration settings on the camera side. With the camera, make settings to detect the center of the “+” mark on the workpiece below. Also, make settings so that both of the identical marks are detected.
Page 128: Calibration
3.7.2 Calibration This section explains about the calibration (coordinate conversion) standard settings screen. Acquire the marks with the camera ([Get Calibration Mark]), find where these marks are within the robot coordinates ([Robot Coordinate Position]), and calculate the coordinate conversion coefficient between the camera and the robot ([Calculate and Register]). Select [Calibration] from the repeat by camera menu in [Pallet Routine].
Page 129 Enter [Calibration Mark Number]. With the workpiece example, there are two marks you want to detect, so enter “2”. Select [Get Calibration Mark]. Once this is selected, the CCD camera takes a photograph, and the image is acquired. Make sure to acquire the photographic image under the same conditions (camera position, focus, and data acquisition range) as you have during the actual run.
Page 130: Standard Data Settings
3.8 Standard Data Settings Move the robot to P01 (the camera data acquisition point). (Use the [GO] keys to move the axes to the coordinates currently displayed.) If there are multiple workpieces (O marks) in the camera data acquisition area, leave only 1 workpiece in the area by covering the other O marks with tape etc.
Page 131: Create And Set Point Job Data
3.11 Create and Set Point Job Data 3.11.1 Create and Set Point Job Data that Includes Camera Data Acquisition Commands To prevent blurring of the photographic image, set a wait time preceding the camera data acquisition command. Use the conditional wait command waitCondTime , and enter a wait time of 0.5sec.
Page 132: Create And Set Point Job Data That Includes Pallet Control Commands
3.11.2 Create and Set Point Job Data that Includes Pallet Control Commands Point job data that includes pallet control commands is the point job data which is set to points which perform jobs. First of all, enter the command for the job (dispensing, screw tightening etc.) you want to perform at the point.
Page 133: Distance Sensor Adjustment (Z Adjustment)
Warning Always make sure that the robot’s power switch (circuit breaker for the JS3 Series) is OFF when making connections. Failure to do so can cause electric shock and injury. ■ JR3000 Series Distance Sensor Connection Example 9Pin 25Pin 250Ω...
Page 134 ■ JC-3 Series Distance Sensor Connection Example 9Pin 25Pin 250Ω Analog Controller Distance (Z) Sensor Power Supply Controller Example: JC-3C-3 (COM 1 – 3)* * To use COM1 to communicate with a distance sensor, set COM1 Command Communication Function to Invaild. ■...
Page 135 The following procedures are necessary for using this function. Connect the distance sensor, analog controller, and power supply to the robot properly, and set the workpiece in the same manner as it is during a run. To adjust workpiece position discrepancies in the X, Y, and Z directions using the camera and the distance sensor together, perform the “workpiece position discrepancy adjustment (camera adjustment)”...
Page 136: Create A New Program
When the distance sensor is mounted on the robot axis, set the total weight of the tool and the distance sensor as [Tool Mass]. When the camera is mounted on the robot axis, set the total weight of the tool and the camera as [Tool Mass]. JR3000 Series Tool Mass Model...
Page 137: Register The Point Positions
4.5 Register the Point Positions Register the height measuring point and the position of the point that performs the job on the workpiece. If you wish to adjust the workpiece position discrepancy in the X, Y, and Z directions using the camera and the distance sensor together, and your height measuring point differes from your camera data acquisition point, register only the height measuring point using [Insert a Point].
Page 138: Create And Set The Additional Function Data Workpiece Adjustment
4.7 Create and Set the Additional Function Data Workpiece Adjustment 4.7.1 Workpiece Adjustment Open a new [Workpiece Adjustment Settings] from [Additional Function Data Settings]. Select [Numeric Adjustment] as the workpiece adjustment type. After selecting [Numeric Adjustment], the following items are displayed: Numeric Adjustment Menu Overview Menu Details...
Page 139: Camera Communication Settings
4.7.2 Camera Communication Settings Select [Z-Adjustment COM Port] from the [Z-Adjustment] menu and select the COM Port on the robot side connected to the camera. 4.7.3 Get Standard Data Turn ON the distance sensor, and then select [Get Standard Data] from the [Z-Adjustment with COM] menu.
Page 140: Command For An Error During Z Adjustment Acquisition
4.8.3 Command for an Error During Z Adjustment Acquisition If a Z adjustment acquisition error occurs, an incorrect offset value is applied to the job point coordinates. In this situation, enter a command to specify the operation for Z adjustment acquisition errors.
Page 141 When acquiring [Z Adjustment] reference data, you need to align the distance sensor with the height measuring position used during the run (refer to “4.7.3 Get Standard Data”). If you specifically prepare point job data to lower and raise the distance sensor, you can then use this data to raise and lower the distance sensor during point teaching.
Page 142: Touch Sensor Adjustment (Z Adjustment)
NOTE: To use an I/O signal which has a preassigned function on the robot side, you need to set that I/O signal to [Free] in [I/O-SYS Function Assignment]. Also refer to the touch sensor instruction manual for the connection procedures. ■ JR3000 Series Touch Sensor Connection Example Example: #genIn1 Touch sensor...
Page 143 ■ JC-3 Series Touch Sensor Connection Example Example: #genIn1 Touch sensor Controller Example: JC-3C-3 (I/O) ■ JS3 Series Touch Sensor Connection Example Example: #genIn1 Touch sensor Controller Example: JSC3-3520 (I/O) Camera & Sensor Functions Desktop Robot JR3000 Cartesian Robot JC-3 SCARA Robot JS3...
Page 144 The following procedures are necessary for using this function. Connect the touch sensor to the robot correctly, and set the workpiece in the same manner as it is during a run. To adjust the workpiece position discrepancy in the X, Y, and Z directions using the camera and the touch sensor together, perform the “workpiece position discrepancy adjustment (camera adjustment)”...
Page 145: Create A New Program
[Tool Mass]. When the touch sensor and the camera are mounted on the robot axis, set the total weight of the tool, the touch sensor, and the camera as [Tool Mass]. JR3000 Series Tool Mass Model JR3200 1 kg 3.5 kg...
Page 146: Register The Point Positions
5.5 Register the Point Positions Register the height measuring point and the position of the point that performs the job on the workpiece. If you want to correct any workpiece position discrepancies in the X, Y, and Z directions using the camera and the touch sensor together, and your height measuring point differs from your camera data acquisition point, register only the height measuring point position using [Insert a Point].
Page 147: Create And Set The Additional Function Data Workpiece Adjustment
5.7 Create and Set the Additional Function Data Workpiece Adjustment 5.7.1 Workpiece Adjustment Open a new [Workpiece Adjustment] from [Additional Function Data Settings]. Select [Numeric Adjustment] as the workpiece adjustment type. After selecting [Numeric Adjustment], the following items are displayed: Numeric Adjustment Menu Overview Menu Details...
Page 148: Camera Communication Settings
5.7.2 Camera Communication Settings Select [Input Channel] from the [Going Down Z-Adjustment] menu and specify the I/O signal on the robot’s side connecting the touch sensor. NOTE: To use an I/O signal which has a preassigned function on the robot side, you need to set that I/O signal to [Free] from [I/O-SYS Function Assignment].
Page 149: Create And Set Point Job Data That Includes The Z Adjustment Acquisition Commands
5.8 Create and Set Point Job Data that Includes the Z Adjustment Acquisition Commands 5.8.1 New Point Job Data Open new point job data. To use the camera and the touch sensor together and to set both the camera data acquisition point and the height measuring point to the same point, open the point job data created in the camera adjustment , and add or insert the commands.
Page 150: Height Measuring Point
5.8.4 Height Measuring Point If there are no further commands to be set, point job data creation is complete. Set the point job data you created to the height measuring point. If you register the point positions after creating the [Workpiece Adjustment], make sure the height measuring point coordinates are at the same position where [Get Standard Data] was performed.
Page 151 This is an example of point job data to lower the touch sensor. Lower the touch sensor. set #genOut1 This is an example of point job data to raise the touch sensor. Raise the touch sensor. reset #genOut1 UTILITY [Teaching Environment Setting] [Manual Job Number Setting] [Robot] ...
Page 152: Display Screen Examples
6. DISPLAY SCREEN EXAMPLES ■ Select: MENU  [Additional Data Function Settings]  [Workpiece Adjustment Settings]  [Workpiece Adjustment Number] F2 (NEW)  ENTR  make a selection New Adjustment Select Item Numeric Adjustment CCD Camera Adjustment CCD Camera Adj With Counter ■...
Page 153 ■ CCD Camera Adjustment Screen  Camera Comm Settings Camera Comm Settings Camera Preset Type-A1(A210/A110) Camera Communication Port COM1 ■ CCD Camera Adjustment Screen  Camera Comm Settings  Camera Preset Select Item System Camera Type-P1(A210/A110) Type-P2(PV310) Type-P3(PV510/PV200) Type-K1(CV3000) Type-K2(CV-X100) ■...
Page 154 ■ CCD Camera Adjustment Screen  Calibration  Reference Coefficient Start Auto Calibration Unit Coefficient 1 mm Rotate Angle 0 deg X Shifting Amount 0 mm Y Shifting Amount 0 mm ■ CCD Camera Adjustment Screen  Calibration  Start Auto Calibration (executing) Start Auto Calibration Running ■...
Page 155 ■ CCD Camera Adjustment Screen  Calibration  Start Auto Calibration (after calibration) Specify the Move Mark Position by Tool Tool Main Tool > 　Y 0 mm 　Z 0 mm FUNC T. TOOL INIT ■ CCD Camera Adjustment Screen  Calibration  Start Auto Calibration (finished) Start Auto Calibration Calibration is Complete Press any key...
Page 156 ■ CCD Camera Adjustment Screen  Execute Parameter Setting Execute Parameter Setting Apply Rotation to R-Axis Reset Z Adjustment Reset at Program Start ■ CCD Camera Adjustment Screen  Display Adjustment Display Adjustment 0 mm X Adjustment Y Adjustment 0 mm Z Adjustment 0 mm R Adjustment...
Page 157: Addendum: Camera Settings List
7. ADDENDUM: CAMERA SETTINGS LIST Camera Model A210/110 Start command %S<CR> Transmission Rate/Baud Rate:9600 Serial Setting Bit Length:8 Initialization Value/ Stop Bit: 2 Default RS-232C Parity: None Flow Control: None ENVIRONMENT Serial Settings/RS-232C => Communication Menu Position => Serial Settings/RS-232C Digit: 8 (Default:14)* Inval.Digit: Del.(Default: Del.) Serial Output Setting...
Page 158 Camera Model PV300 Start command %S<CR> Transmission Rate/Baud Rate: 9600 Serial Setting Bit Length: 8 Initialization Value/ Stop Bit: 1 Default RS-232C Parity: Odd Flow Control: None Serial Settings/RS-232C Serial Settings/RS-232C Menu Position ENVIRONMENT Menu Position => Serial Communication => Port Settings/RS-232C Digit: 7 (Default:11)* Inval.Digit: Repl.0(Default:Del.) Numerical Calc.: Out(Default:None)
Page 159 Camera Model PV500/PV200 Start command %S**<CR> Transmission Rate/Baud Rate:9600 Serial Settings Length: 8 Initialization Value Stop Bit: 1 Default RS-232C Parity:Odd Flow Control:None ENVIRONMENT Serial Settings/RS-232C => Input/Output Menu position => Serial Output Setting: Serial(Per Start)(Default: Not Output) Digit: 8 * Decimal Digit: 3 (Default: 3) Unused Digit: 0 /Fill with Zeros(Default:0/Fill with Zeros) Serial Output...
Page 160 Camera Model CV3000/CV-X100 Start command T1<CR> Mode: No Protocol(RS-232C) Transmission Rate/Baud rate: 9600 Serial Setting Stop Bit: 1 Initialization Value/ Parity BitNone Default RS-232C Flow Control: None Delimiter: CR Serial Setting/RS-232C Global Menu Position => RS-232C ・ PLC link Serial Output Unmodifiable Output Digits: 12 Robot Coordinate Data...
Page 161 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. © 2014-2019, Janome Sewing Machine Co., Ltd., All rights reserved.

This manual is also suitable for:

Jc-3 series Js3 series

Janome JR3000 Series Operation Manual

Quick Links

Need help?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Janome JR3000 Series

Summary of Contents for Janome JR3000 Series

This manual is also suitable for:

Table of Contents