Page 1 JC-3 Series Operation Manual Basic Instructions Thank you for purchasing this Janome Robot. • Before using this 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. Read This First •...
Page 3 For details on how to back up robot data, refer to “3. Backing up and Restoring Robot Data” in the operation manual Setup for the JR3000 Series, "6.1 Backing up and Restoring Robot Data" in the operation manual Setup for the JC-3 Series.
Page 4 • The proper name of Windows® is Microsoft®Windows® Operating System. • Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Remarks: • The operation methods described in this manual are indicated as follows: Operation via the teaching pendant Operation via the PC (JR C-Points II) •...
Page 5: Table Of Contents
2.4.1 Main Unit ........................37 2.4.2 Controller ........................42 2.5 Teaching Pendant ........................ 45 2.6 Switchbox..........................46 2.6.1 JR3000 Series ....................... 46 2.6.2 JC-3 Series........................49 2.7 Teaching Pendant Operation Panel Keys ................51 3. SYSTEM CONFIGURATION ..................... 53 3.1 JR3000 Series ........................53 3.2 JC-3 Series ..........................
Page 6 7. CHANGING MODES ......................... 60 8. WHAT THE LEDS MEAN ......................62 9. TEACHING PENDANT FUNCTIONS ..................63 9.1 LED Display ......................... 64 9.2 Operation Panel Keys ......................65 9.3 Teaching Pendant (TPU) Connector ..................67 10. WHAT YOU CAN DO IN EXTERNAL RUN MODE ..............68 10.1 Mechanical Initialization .....................
Page 7 12.9.2 All Program Common Settings .................. 103 12.9.3 Common Data ......................105 12.9.4 Condition Data......................105 12.9.5 Point Job Data ......................105 12.9.6 Additional Function Data ................... 105 12.9.7 Main Tool Conﬁguration ..................... 108 12.9.8 Camera Conﬁguration ....................109 12.9.9 User Deﬁned Messages .................... 109 12.9.10 PLC Programs ......................
Page 8: 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 9 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 10 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 11 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 12 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 13 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 14 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 15 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 16 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. Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 17 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 18 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 19 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 20 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 21 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 22 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 23: Reading The Model Name
• 30 = 300 x 320 mm • 40 = 400 x 400 mm • 50 = 510 x 510 mm • 60 = 510 x 620 mm Janome Desktop Robot JR3000 Series Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 24 • H: Double Sided Speciﬁcations • 0: Standard Speciﬁcations Z/ZR Axis • N: None • 0: Z Slider: Oriental Motor • 1: ZR Mechanism: Janome Sewing Machine XY Slider • 0: Oriental Motor Motor Sanyo Sanyo AR: Incremental encoder motor, Oriental Motor...
Page 25: Controller (Jc-3 Series Only)
Example: JC-3 C – 3 Number of Axes • 2: 2-Axis Model • 3: 3-Axis Model • 4: 4-Axis Model • 3A: 3-Axis Absolute Encoder Model Classiﬁcation • C: Controller Janome Cartesian Robot JC-3 Series Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 26: Part Names
2. PART NAMES 2.1 JR3200 Series 2.1.1 Main Unit 4 Axis Specs Z Mechanism Z Mechanism R Axis Y Body Column X Table Base Example: JR3203N-AC Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 27: Operation Panel
2.1.2 Operation Panel ■ Installed Switch Speciﬁcations Example: JR3203N-AC Program Number Display Start/Stop Switch LED (red) Emergency Stop Switch Program Number Keys LED (green) Fieldbus (Optional) Teaching Pendant Connector MEMORY Port COM1:RS-232C LAN Port ■ Installed Switch Speciﬁcations with Optional Switch Example: JR3203N-AC LED (red) Program Number Display...
Page 28 ■ Switchbox Speciﬁcations Example: JR3203N-BJ LED Lamp Teaching Pendant Connector Fieldbus (Optional) Switchbox Connector MEMORY Port COM1:RS-232C LAN Port ■ Basic Switchbox Speciﬁcations Example: JR3203N-CC LED (red) Program Number Display Program Number Keys LED (green) Teaching Pendant Connector Fieldbus (Optional) Switchbox Connector MEMORY Port LAN Port...
Page 29: Operation Panel Rear
2.1.3 Operation Panel Rear Example: JR3203N-AC/BC/CC I/O Internal Power Fuse COM2:RS-232C (optional) Power Switch (optional) I/O-SYS Inlet I/O-1 (optional) or I/O-MT (optional) I/O-S (optional) In this diagram, the I/O-MT connector is shown. Grounding Screw COM3:RS-232C (optional) Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 30: Jr3300 Series
2.2 JR3300 Series 2.2.1 Main Unit 4 Axis Specs Z Mechanism Z Mechanism R Axis Column Y Body Column X Table Base Example: JR3303N-AJ Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 31: Operation Panel
2.2.2 Operation Panel ■ Installed Switch Speciﬁcations Example: JR3303N-AJ Program Number Keys Emergency Stop Program Number Display LAN Port Switch Start/Stop Switch LED (red) LED (green) MEMORY Port Teaching Pendant Connector COM1: RS-232C ■ Installed Switch Speciﬁcations with Optional Switch Example: JR3303N-AJ Program Number Keys...
Page 32 ■ Switchbox Speciﬁcations Example: JR3303N-BJ LAN Port MEMORY Port Teaching Pendant Connector COM1:RS-232C Switchbox Connector ■ Basic Switchbox Speciﬁcations Example: JR3303N-CJ Program Number Display Program Number LED (red) Keys LED (green) Teaching Pendant MEMORY Port COM1:RS-232C Connector LAN Port Switchbox Connector Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 33: Operation Panel Rear
2.2.3 Operation Panel Rear ■ Outlet 100 V Speciﬁcations Example: JR3303N-AJ/BJ/CJ COM2:RS-232C I/O Internal Power Fuse (optional) (optional) Outlet COM3:RS-232C Fieldbus (optional) (optional) Inlet Power Switch I/O-S (optional) I/O-1 (optional) I/O-MT (optional) Grounding Screw I/O-SYS Outlet Fuse (3.15 Time Lag Type ø 5.2 × 20) Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 34: Jr3400 - Jr3600 Series
2.3 JR3400 – JR3600 Series 2.3.1 Main Unit 4 Axis Specs. Z Mechanism Z Mechanism R Axis Column Y Body X Table Base Example: JR3403N-AJ Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 35: Operation Panel
2.3.2 Operation Panel ■ Installed Switch Speciﬁcations Example: JR3403N-AJ Program Number Display Emergency Stop Switch LAN Port Start/Stop Switch LED (red) LED (green) Program Number Keys MEMORY Port Teaching Pendant Connector COM1: RS-232C ■ Installed Switch Speciﬁcations with Optional Switch Example: JR3403N-AJ Optional Switch Program Number Display...
Page 36 ■ Switchbox Speciﬁcations Example: JR3403N-BJ LAN Port MEMORY Port Teaching Pendant Connector COM1:RS-232C Switchbox Connector ■ Basic Switchbox Speciﬁcations Example: JR3403N-CJ Program Number Display LED (red) Program Number Keys LED (green) Teaching Pendant COM1:RS-232C MEMORY Port Connector LAN Port Switchbox Connector Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 37: Operation Panel Rear
2.3.3 Operation Panel Rear ■ Outlet 100 V Speciﬁcations Example: JR3403N-AJ/BJ/CJ COM2:RS-232C Outlet Fuse (optional) (3.15 Time lag type ø 5.2 × 20) Outlet COM3:RS-232C Fieldbus (optional) Inlet (optional) I/O-S (optional) I/O-SYS Grounding Screw I/O-MT (optional) I/O Internal Power Fuse (Optional) Power Switch I/O-1 (optional) Basic Instructions...
Page 38: Series
2.4 JC-3 Series 2.4.1 Main Unit ■ JC-3C0N-0T2 (2 Axis Speciﬁcations) Bracket Y Connector Mounting Plate Y Slider Table Cableveyor (Optional) X Slider Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 39 ■ JC-3C0N-0H2 (2 Axis Speciﬁcations) Bracket Y Connector Support Guide Mounting Plate Y Slider Table Cableveyor (Optional) X Slider Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 40 ■ JC-3A00-0T3 (3 Axis Speciﬁcations) Cableveyor (Optional) Z Connector Mounting Plate Bracket Y Connector Mounting Plate Y Slider Table Z Slider Cableveyor (Optional) X Slider NOTE: • The optional covers for the Y and Z connector mounting plates are omitted from this diagram. •...
Page 41 ■ JC-3A00-0H3 (3 Axis Speciﬁcations) Cableveyor (Optional) Z Connector Mounting Plate Bracket Y Connector Mounting Plate Y Slider Table Z Slider Support Guide Cableveyor (Optional) X Slider NOTE: • The optional covers for the Y and Z connector mounting plates are omitted from this diagram. •...
Page 42 ■ JC-3B01-0H4 (4 Axis Speciﬁcations) Cableveyor (Optional) Y – Z Veyor Guide (Optional) ZR Cableveyor Retainer Plate Bracket Y Connector Mounting Plate Y Slider ZR Mechanism R Axis Support Guide Cableveyor X Slider (Optional) NOTE: The optional cover for the Y connector mounting plate is omitted from this diagram. Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 43: Controller
2.4.2 Controller ■ JC-3 C-2 (2 Axis Speciﬁcations) / JC-3C-3 (3 Axis Speciﬁcations) Power Lamp SW-BOX I/O-1 COM1 COM2 COM3 MEMORY I/O-SYS Z Bre* Motor I/O-MT (Optional) Connectors Fieldbus (Optional) ＋－ External Power Power Switch Supply DC 48 V Fuse EMG-OUT Inlet...
Page 44 ■ JC-3 C-4 (4 Axis Speciﬁcations) Power Lamp SW-BOX I/O-1 COM1 COM2 COM3 MEMORY I/O-SYS Motor I/O-MT (Optional) Connectors Fieldbus (Optional) ＋ External Power － Power Switch Supply DC 48 V Fuse EMG-OUT Inlet Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 45 ■ Absolute Encoder Model JC-3 C-3 (3 Axis Speciﬁcations) Power Lamp SW-BOX I/O-1 COM1 COM2 COM3 MEMORY I/O-SYS I/O-MT (Optional) Motor Connectors Z Bre Fieldbus (Optional) ＋ External Power － Power Switch Supply DC 48 V Fuse EMG-OUT Inlet Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 46: Teaching Pendant
2.5 Teaching Pendant The teaching pendant is a device used to teach and enter programs etc., into the robot. There are two types of teaching pendants. Teaching Pendant II (New Model) Emergency Stop Switch (Optional for JR3000 Series) Liquid Crystal Display Operation Panel Enable switch* Teaching Pendant (Conventional Model)
Page 47: Switchbox
2.6 Switchbox The switchbox is a device to be used from a separate location equipped with a start/stop switch and emergency stop switch. 2.6.1 JR3000 Series ■ Standard Speciﬁcations (included with switchbox speciﬁcations robots) Program Number Display Emergency Stop Switch...
Page 48 ■ Standard Speciﬁcations with Optional Switch (included with switchbox speciﬁcations robots) Program Number Display Emergency Stop Switch LED (Red) Start/Stop Switch Optional Switch Program Number Selection Keys LED (Green) ■ Basic Speciﬁcations (included with basic switchbox speciﬁcation robots) Emergency Stop Switch Start/Stop Switch ■...
Page 49 ■ Basic Speciﬁcations with Optional Switch (included with basic switchbox speciﬁcation robots) Emergency Stop Switch Start/Stop Switch Optional Switch* Optional Switch* or Cap NOTE: If there is one Optional Switch, the left side is the cap. If there are two, they are numbered optional switches 1 and 2 from the left.
Page 50: Series
2.6.2 JC-3 Series The switchbox is optional for the JC-3 Series. ■ Standard Speciﬁcations with Initialize Switch* Program Number Display Emergency Stop Switch LED (Red) Start/Stop Switch Program Number Selection Keys LED (Green) Initialize Switch* * With the JC-3 absolute encoder models, [Initialize Switch] is the [Work Home Switch] function. ■...
Page 51 ■ Standard Speciﬁcations with Initialize Switch* and Purge Switch Program Number Display Emergency Stop Switch LED (Red) Initialize Switch* Start/Stop Switch Program Number Selection Keys Purge Switch LED (Green) * With the JC-3 absolute encoder models, [Initialize Switch] is the [Work Home Switch] function. ■...
Page 52: Teaching Pendant Operation Panel Keys
2.7 Teaching Pendant Operation Panel Keys Function Executes the functions displayed in the lowest line of the LCD. The functions displayed in the lowest line of the LCD change according to the screen. MODE Changes the robot mode. SAVE Saves C&T data. Moves each axis to the coordinates displayed on the LCD.
Page 53 Function 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) Moves the Y axis in the + direction.
Page 54: System Configuration
3. SYSTEM CONFIGURATION 3.1 JR3000 Series Teaching Pendant (optional) Robot Example: JR3203N-BC Switchbox or Basic Switchbox PC with a Windows® 7 / 8.1 / 10 operating system* Tool* Dispenser, Electric Screwdriver, etc. PLC, etc. Area Sensor, etc.* RS-232C Cable* *1: Not included...
Page 55: Series
3.2 JC-3 Series Teaching Pendant PC with a Windows® (Optional) 7 / 8.1 / 10 operating system* TPU* SW-BOX* I/O-1 I/O-SYS EMG OUT MOTOR-X,Y,Z Controller Example: JC-3C-3 Robot Example: JC-3A00-0H3 Area Sensor etc.* External Device External Device (such as a PLC, etc.) (such as a PLC, etc.) External Device (such as a PLC, etc.)
Page 56: Coordinate System
4. COORDINATE SYSTEM 4.1 JR3000 Series Y = 0 Y Axis Z = 0 Z Axis R Axis X = 0 X Axis Example: JR3204N-AC Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 57: Series
4.2 JC-3 Series R Axis 4 Axis Specs Z Axis Y Axis 3 Axis Specs (2 axis specs has no Z axis) Z Axis X Axis X=0, Y=0 Example: Single Sided Speciﬁcations Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 58: Brake
5. BRAKE JR3000F models and the JC-3 Series are equipped with a brake. The brake is engaged when the power is switched OFF or an emergency stop is activated. Before resuming operation after an emergency stop, etc., when the tool is in contact with the workpiece, make sure to perform a mechanical initialization.
Page 59: Movement Types
6. MOVEMENT TYPES The robot moves from one point to another with a tool attached to the tip of its Z axis, where it performs jobs registered to each point. Movements from one point to another are performed as a PTP movement or a CP movement depending on the settings of the each point.
Page 60: Cp Movement
6.2 CP Movement CP stands for Continuous Path. The robot axes move in a straight line or in an arc to the designated point. The axes move to the next point at a uniform speed. Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 61: Changing Modes
7. CHANGING MODES ■ Broadly speaking, this robot has the following 5 operation modes: • External Run Mode: Runs programs (Start running programs from I/O-SYS, Fieldbus, COM1, or Ethernet) • Switch Run Mode: Runs programs (Start running programs by pressing the start/stop switch.) •...
Page 62 When the teaching pendant is connected, the teaching pendant LEDs indicate the current mode. When making point runs and/or test runs in Teaching Mode, both the TEACH and RUN LEDs light up. Color Lamp Conditions ERROR ON when an error has occurred. Green or Red* ON during External Run Mode or Switch Run Mode.
Page 63: What The Leds Mean
• I/O-S is set to [Interlock], the robot is stopped or waiting and the I/O-S is OPEN (if using a JR3000 Series robot with I/O-S speciﬁcations). • EMG OUT is set to [Interlock], the robot is stopped or waiting and the EMG OUT is OPEN (JC-3 Series).
Page 64: Teaching Pendant Functions
2 stop. The motor is stopped with power left available to the actuators. Emergency Stop Switch* *2: The emergency stop switch is optional for the JR3000 Series and standard for the JC-3 Series. Basic Instructions Desktop Robot JR3000 Cartesian Robot JC-3...
Page 65: Led Display
Contact Janome (details on the back of this manual) or a Janome dealer. Teaching Pendant Speciﬁcation Screen Example NOTE: Even if “Hit Any Key” is displayed, do not press any of the keys.
Page 66: Operation Panel Keys
9.2 Operation Panel Keys Function Executes the functions displayed in the lowest line of the LCD. The functions displayed in the lowest line of the LCD change according to the screen. You can assign useful functions to each key such as setting the Shortcut point type etc, when teaching which you can execute just by Keys...
Page 67 Function 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) Moves the Y axis in the + direction.
Page 68: Teaching Pendant (Tpu) Connector
9.3 Teaching Pendant (TPU) Connector JC-3 Series 3 Axis Speciﬁcations - Controller Front JR3200 Series Example : JC-3 Example : JR3203N-AC/BC/CC Caution Connect the teaching pendant II if the “caution“ sticker around the connector says “Please use TPU II for this product.” Do not use or connect the conventional teaching pendant.
Page 69: What You Can Do In External Run Mode
10. WHAT YOU CAN DO IN EXTERNAL RUN MODE Warning Make sure to perform work from outside of the safety guards when the power is ON. Failure to do so can cause injury. External Run Mode is a mode to start running programs by a signal from the start channel (I/O-SYS, Fieldbus, COM1, user deﬁnitions or Ethernet).
Page 70 Turn “#sysIn01 (Start)” ON from an external device connected to the I/O-SYS. When using the JR3000 Series, run start and mechanical initialization are both assigned to #sysIn1 with I/O-SYS. When using the JC-3 Series, mechanical initialization is assigned to #sysIn2.
Page 71: Emergency Stop
Power to the motor is cut OFF (the power supply for the motor) and the robot stops running. • Press the emergency stop switch on the robot (JR3000 Series) or on the switchbox. • Press the emergency stop switch on the teaching pendant.
Page 72: How To Select A Program
Series) or on the switchbox. Call the desired run program number using the program number display on the front of the robot (JR3000 Series) or on the switchbox. (Use the “+” and “-” keys on the bottom of the number display to change numbers).
Page 73 Selection From Fieldbus If you have an external device connected to the Fieldbus, set the program you want to run to the [Program Number (word)] register (#fbIn101) (when using the default settings*). If [Program Number Switching Method] is set to [LOAD/ACK Handshake], when program number Load Number (#fbIn1002) comes ON, the [Program Number (word)] register is loaded.
Page 74: Run Start
10.4 Run Start To start running a program when in External Run Mode, select one of the operations below. However, you must select a registered program. ■ From I/O-SYS From an external device connected to I/O-SYS, turn “Start signal (#sysIn1)” ON. ■...
Page 75: Ptp Speed Override
10.5 PTP Speed Override You can reduce the running PTP speed by the percentage you set. (This setting does not affect the CP speed (line speed)). Use this when you want to run a new program at a low speed, etc. Press the MENU key when in Ext.
Page 76: Changing The Teaching Pendant Display
10.7 Changing the Teaching Pendant Display You can change the teaching pendant LCD display settings by pressing the UTILITY key and selecting [Teaching Environment Settings]. However, you cannot perform this operation while running a program. Item Function Screen Contrast Change the teaching pendant LCD contrast CURSOR key: darker CURSOR...
Page 77: Saving Data
10.10 Saving Data Customizing data and teaching data are saved collectively (C&T data). If the teaching pendant is connected to the robot, press the SAVE key. If you want to save data edited on a PC to the robot, use the PC software JR C-Points II to transfer the data to the robot. The data sent from the PC is stored in the robot automatically.
Page 78: What You Can Do In Switch Run Mode
11. WHAT YOU CAN DO IN SWITCH RUN MODE Warning Make sure to perform work from outside of the safety guards when the power is ON. Failure to do so can cause injury. Switch Run Mode is a mode that starts running programs when the start/stop switch is pressed. The RUN LED on the teaching pendant is lit up when in Switch Run Mode.
Page 79: Mechanical Initialization
11.1 Mechanical Initialization Mechanical initialization is an operation to make the robot recognize its current coordinates. This is necessary after turning the power ON and after releasing the emergency stop (JC-3 absolute encoder models do not have this function). If you start up the robot in Switch Run Mode and “Press Start/ Stop Switch”...
Page 80: Emergency Stop
Power to the motor is cut off (the power supply for the motor) and the robot stops running. • Press the emergency stop switch on the robot (JR3000 Series) or on the switchbox. • Press the emergency stop switch on the teaching pendant.
Page 81: How To Select A Program
Call the program number you want to run using the program number display on the front of the robot (JR3000 Series) or on the switchbox. (Use the “+” and “-” keys on the bottom of the number display to change numbers).
Page 82 Selection From Fieldbus If you have an external device connected to the Fieldbus, set the program you want to run to the [Program Number (word)] register (#fbIn101) (when using the default settings*). If [Program Number Switching Method] is set to [LOAD/ACK Handshake], when program number Load Number (#fbIn1002) comes ON, the [Program Number (word)] register is loaded.
Page 83: Run Start
Robot Switch Box Example:JR3203N-AC Example: JR3000 Series 11.5 PTP Speed Override You can reduce the running PTP speed by the percentage you set. (This setting does not affect the CP speed (line speed)). Use this when you wish to run a new program at a low speed, etc.
Page 84: Cycle Time
11.6 Cycle Time The cycle time (sec) appears on the screen after running one cycle of the program. If Cycle Mode is set to [Continuous Playback], the External Run Mode Program 1 robot will not report the time for every cycle, but Test Program Stopping Start Enable...
Page 85: Run Mode Operation, Plc Program
11.8 Run Mode Operation, PLC Program If you set point job data numbers to a Run Mode job, during Run Mode the robot executes the point job data of the registered numbers according to their respective timing. For example, the robot executes “Job on Emergency Stop”...
Page 86: Saving Data
11.10 Saving Data Customizing data and teaching data are saved collectively (C&T data). If the teaching pendant is connected to the robot, press the SAVE key. If you want to save data edited on a PC to the robot, use the PC software JR C-Points II to send the data to the robot. The data sent from the PC is stored in the robot automatically.
Page 87: What You Can Do In Teaching Mode
12. WHAT YOU CAN DO IN TEACHING MODE Warning Make sure to perform work from outside of the safety guards when the power is ON. Failure to do so can cause injury. Teaching Mode is a mode used to create programs, etc. Creating programs and entering settings is called “teaching.”...
Page 88: Mechanical Initialization
12.1 Mechanical Initialization Mechanical initialization is an operation to make the robot recognize its current coordinates. This is always necessary after turning the power ON and after releasing the emergency stop (JC-3 absolute encoder models do not have this function). To perform mechanical initialization, when the space at the bottom of the LCD display on the teaching pendant above the F4 key is shown as INIT, press the F4 (INIT) key.
Page 89: Emergency Stop
Power to the motor is cut OFF (the power supply for the motor) and the robot stops running. • Press the emergency stop switch on the robot (JR3000 Series) or on the switchbox. • Press the emergency stop switch on the teaching pendant.
Page 90: How To Select A Program
• With a JC-3 absolute encoder model, the robot performs a drive unit initialization after the emergency stop is deactivated. 12.3 How to Select a Program Select a program using the following method: ■ From the Teaching Pendant Press the PRG.NO key on the teaching pendant and enter the program number you want to run.
Page 91: Test Run
12.5 Test Run Before an actual run, perform [Test Run] when you want to check the movements of a newly registered program, or of a modiﬁed program. For safety purposes, the test run speed is limited to 250 mm/s. Otherwise, the point job and/or additional functions are executed exactly the same as Run Mode.
Page 92: Teaching Environment Settings
12.6 Teaching Environment Settings In the Teaching Mode, press the UTILITY key and select [Teaching Environment Settings]. The teaching environment settings menu appears. From the teaching environment settings menu, you can change the environment settings for when inputting positions in Teaching Mode as well as change the display settings of the teaching pendant LCD.
Page 93: Error History
• Key Click Select where click sounds occur when keys on the operation panels are pressed. • Robot ON, TP Panel ON: Both the robot and teaching pendant beep • Robot OFF, TP Panel ON: Only the teaching pendant beeps •...
Page 94: Saving Data
12.8 Saving Data Teaching data is saved in combination with customizing data (C&T data). If the teaching pendant is connected, press the SAVE key. If you want to save data edited on a PC to the robot, send data to the robot using JR C-Points II (PC software). The data sent from the PC is saved to the robot automatically.
Page 95: Types Of Teaching Data
12.9 Types of Teaching Data You can create up to 999 individual programs. Each program includes individual program settings and point data. The Teaching Mode menu contains the items listed in the table below. Teaching Mode  MENU Item Details Individual Program Settings Settings which are only activated during a program run of the program to which they are set.
Page 96: Programs
12.9.1 Programs You can operate the robot in various ways by running different programs. A program is made up of [Program Individual Settings] and [Point Data]. You can set individual program settings to each program individually. Point data includes data such as position coordinates to operate the robot. Multiple lots of point data are referred to as a “point data array.”...
Page 97 Common/ Settable Item Details Individual Conversion Position Data Type The coordinate type held by the point data. There are Individual only 3 types as listed below. Absolute Position data values used to indicate Coordinates the robot’s ﬁxed coordinates. Relative Position data values used to indicate Coordinates* the distance from the program start coordinates.
Page 98 *1: The last work command is executed by one of the following methods: • Turn the Last Work command (sysIn13) OFF → ON with I/O-SYS. • Turn the Fieldbus “fbIn100C Last Work command” input signal ON. • Send the “Last Work (R5)” communications control command. Refer to the operation manual External Control regarding I/O-SYS and Fieldbus.
Page 99 The basic point type is a movement only, built-in function. You can create a point type in Customizing mode. The point type created by the manufacturer (Janome) is called the “Manufacturer Deﬁned Point Type” and the point type created by the user is called the “User Deﬁned Point Type”.
Page 100 8 end point Work Home : PTP movement (work home – 1, 1 – 2, 6 – 8) All others: CP movement (2 – 6, 8 – 8 end point) (1) PTP Point The robot makes a PTP movement to the set point. The main tool TCP tool data is applied for this point.
Page 101 (8) Circle Start Point Specify a Circle Center Point and Circle, and then use this point to make an arc movement (CP movement). The subsequent point, the Circle Center Point, is the center of the arc. The circle angle is set in the subsequent point; the Circle Center Point. If you set a workpiece adjustment, the Circle Center Point is offset together with the Circle Start Point.
Page 102 (12) Double Camera Shoot Point 1 (13) Double Camera Shoot Point 2 An image acquired with the Double Camera Shoot Points is done by splitting the photographing into two separate shots, allowing you to make adjustments using a wider area than you can with one imaging point. This makes for even more precise adjustments.
Page 103 Point Job Number The numbers assigned to point job data. The robot executes point job data as speciﬁed by these numbers. You can select from the following four types according to the execution timing, etc. Depending on the point type, there are some jobs which cannot be set. •...
Page 104: All Program Common Settings
12.9.2 All Program Common Settings All program common settings are settings that work the same for all programs. You can make settings for the Run Mode environment and functions such as I/O-SYS function settings and/or Run Mode jobs, etc. There are settable items which can be set for both all program common settings and individual program settings.
Page 105 Settable Items Details Common/Individual Other Parameters The following items can be set:* Common only • Initialize • Initialization at Start • Position Error Check • Order of Init. • Stop by Start/Stop Switch • Initialization Speed (X – R axes) •...
Page 106: Common Data
12.9.3 Common Data Depending on settings made in Customization Mode, “Common Data” is not displayed in the Teaching Mode menu. Common data is deﬁned in Customizing Mode, and the values and items are set in Teaching Mode. The names set in Customizing Mode are displayed in the menus. Common data settings are common to all programs.
Page 107 CP Condition The content and items are the same as those set in program data. Use this when you only want to change CP settings between speciﬁed points. Tool Data The content and items are the same as those set in program data. Use this when you only want to use tool data different from that set in the program data between designated points.
Page 108 (: Can be set, blank: Cannot be set) Point Job Data/ Additional Function Data Point Type PTP Point           CP Start Point          ...
Page 109: Main Tool Configuration
12.9.7 Main Tool Conﬁguration The main tool refers to the primary tool used in job content and for jobs. Tool data for the main tool needs to be set according to the job content and application. For example, the syringe needle nozzle is considered the “main tool” with dispensing applications, and the screwdriver is considered the “main tool”...
Page 110: Camera Configuration
12.9.8 Camera Conﬁguration The camera refers to a camera used for adjusting the positions of main tool point jobs in program runs. Conﬁgure the camera when you want to make position adjustments using a camera during program runs. Set tool data and other such settings for the camera in [Camera Conﬁguration]. For details regarding [Camera Conﬁguration], refer to “1.3.6 Workpiece Adjustment Settings 2: Calibration (Match up the Robot and Camera Positioning)”...
Page 111 C&T Data Customizing Data Teaching Data Not Logged In All Program Common Data (Teaching Mode Customizing) Program Teaching Mode Display Settings Common / Point Data Individual P1, P2, P3,... Teaching Mode Job, PLC Individual Program Settings All Prog. Common Default Settings Point Job Data Common Data Point Job...
Page 112 ■ C&T Data C&T data contains “teaching data” and “customizing data.” Teaching data combined with customizing data is referred to as “C&T data.” Saving using the SAVE key or data transfers between the robot and the PC are done in units of “C&T data.”...
Page 113: Teaching Data Correlation
12.10 Teaching Data Correlation When set to [Common], All Program Common Settings are applied during runs. When set to [Individual], Individual Program Settings are applied. If a job number or additional All Program Common Settings function number is registered to a point, the point job data or additional function data for that number is called up.
Page 114: Restart Method After Position Offset (Jr3000E Series Only)
12.11 Restart Method After Position Offset (JR3000E Series Only) This function is only applicable with the JR3000E Series. The JR3000N Series does not have this. If a large burden or external force is placed upon one of the axes during movement, the motor may step-out.
Page 115 Below is an operation example of the same point and next point restarts. ■ Same point and next point restarts for a PTP movement Next Point Restart Same Point Restart Work Home Work Home PTP Point PTP Point PTP movement PTP movement Point 1 Point 1...
Page 116 ■ Instructing Operation Restarts If a step-out is detected during a movement, error No. 83 “Stop due to Overload” occurs. When this error occurs, a prescribed operation is performed and the error is cleared, and once a run start instruction is sent to the robot, the robot restarts the movement according to the [Restart Method After Pos.
Page 117: What You Can Do In Customizing Mode
13. WHAT YOU CAN DO IN CUSTOMIZING MODE Warning Make sure to perform work from outside of the safety guards when the power is ON. Failure to do so can cause injury. Customizing Mode is a mode used to organize the Teaching Mode menu and create data that makes up programs.
Page 118: What You Can Do In Administration Mode
14. WHAT YOU CAN DO IN ADMINISTRATION MODE Warning Make sure to perform work from outside of the safety guards when the power is ON. Failure to do so can cause injury. Administration Mode is broken up into 5 modes: Administration Settings Mode, Diagnostic Mode, Mechanical Adjustment Mode, Version Information, and Error History.
Page 119 • Fieldbus Sets the communication settings for DeviceNet, PROFIBUS, CC-Link, CANopen, PROFINET, EtherNet/IP. • MEMORY Port Sets up the MEMORY port function. • Backlight Auto OFF Sets the teaching pendant LCD backlight ON/OFF in Run Mode. • Clock Settings Sets the current time and date. •...
Page 120: Diagnostic Mode
* Maintenance personnel are individuals who have received maintenance training from Janome or from a Janome dealer. For further details, refer to the operation manual Maintenance (For Maintenance Operators) . If there is any trouble with the robot, teaching pendant or switch box, perform a diagnostic.
Page 121: Mechanical Adjustment Mode
* Maintenance operators are individuals who have received maintenance training from Janome or from a Janome dealer. For further details, refer to the operation manual Maintenance (For Maintenance Operators Only) . 14.4.1 Check Phase Difference (JC-3 Series Only) The phase difference is the distance from the mechanical stop position to the motor home position, measured in pulse units.
Page 122: Error History
14.6 Error History You can view error history by pressing the MODE key, selecting [Administration], and then selecting [Error History] from the displayed menu. MODE [Administration] [Error History] For further details regarding error notiﬁcation and error history, refer to the operation manual Maintenance .
Page 123: Startup Menu
If you hold down the (+) and (-) program selection keys simultaneously on the front operation panel (JR3000 series) or the switch box when turning the power ON, you enter a startup menu before Teaching Mode or Run Mode is started. You can enter the startup menu even if the teaching pendant is not connected.
Page 124 Menu Number Function Description Forced Teaching Mode Startup in Teaching Mode regardless of the mode Startup used when the robot was turned OFF. IP Address Check Conﬁrms the IP address and subnet mask set to the robot. * If the Memory Port settings in Administration Mode are set to “Invalid”, the Forced Teaching Mode (F-4) is activated.
Page 125: What You Can Do With The Memory Port
16. WHAT YOU CAN DO WITH THE MEMORY PORT For details regarding precautions when using the memory port, refer to “14.1 USB Memory Usage Precautions” in the operation manual Speciﬁ cations for JR3000 robots or “8.1 USB Memory Usage Precautions” in the operation manual Speciﬁ cations for JC-3 robots. By inserting a commercial USB memory (Ver.
Page 126: Glossary
17. GLOSSARY Additional Function [0-9] Information and conditions set to individual points. 1 Cycle Playback These consist of PTP/CP Conditions and execute A type of run method used for running programs. conditions, etc. These conditions take priority over After the robot completes one run cycle, the robot conditions speciﬁed in [Individual Program Settings].
Page 127: Alias Definitions
Use by connecting to the I/O-S Connector is used for I/O-1, etc. Also speciﬁes identiﬁers for the COM ports. the JR3000 Series, and to the EMG OUT Connector Refer to “9. Alias Deﬁnitions” in Functions II . for the JC-3 Series.
Page 128 Base Type Block Speciﬁes a group of points in a program from a certain The base point type selected when creating user point number to a certain point number. This group of deﬁned point types in Customizing Mode. points within the speciﬁed range is called a “block.” Refer to “5.2 Base Type”...
Page 129: Character Length
Check Data This is a function located in Teaching Mode > [Test C&T Data Menu]. A unit that collectively contains customizing data and Use this to check whether there are errors in the teaching data. A unit of data. The robot transfers data to the PC in this unit when current program.
Page 130 Common Setting Variable → Baud Rate → Character Length A type of setting variable. → Stop Bit These use common values for all programs. → Parity Refer to “6.1 Common Setting Variables” in Function IV , or “16.5.1 Common Setting Variables” in PC Operation . Command Condition Command Commands for instructing robot operations, signal I/O,...
Page 131: Coordinates Display
Connector CP Arc Point A point type. Parts for connecting the robot unit and the cables. Use this point type to move the robot in an arc by Also known as a “plug” or “receptacle.” specifying this point type in CP movement between a Controller CP Start Point/CP Passing Point and a CP End Point/ A component used to control the JC-3 Series.
Page 132 CP Passing Point Cycle When a program is executed, this is the robot A point type. movement from the work home until the program ends A point where the robot performs a point job or and the robot stops. changes direction in a CP movement. The robot passes through this point without reducing Cycle Time its speed to 0 mm/s.
Page 133 JC-3 Maintenance manual. For the standard JR3000 Series speciﬁcation, it is on the controller (front), and for the JR3000 Series Direct TCP-XY Setting switchbox speciﬁcation and JC-3 Series, it is on the Set this in [Tool Data] from [Main TCP Setting] in [Main- switchbox.
Page 134 PC, this also appears in the Error Log of JR C-Points II. the inferior device (slave) by integrating the inferior On the JR3000 Series, the Program number display device’s data. There are various standards for the on the front of the controller alternates with “Er”.
Page 135 Gate Switch On the JR3000 Series, it is used in the Z mechanism. A device attached to an entrance that detects the opening and closing of the gate and sends signals according to the gate status.
Page 136 The plug for plugging in the power cord. Increment pallet. A command used when controlling It is on the back of the robot for the JR3000 Series, a pallet with a command string during a point job. and on the front of the controller for the JC-3 Series.
Page 137 JR3000 Series machine. which it was set until the robot reaches the next point. The JR3000 Series cannot operate when there is Set from the [Job Data Number] item on the Point nothing connected to this connector.
Page 138 ﬁxed and moving parts, and prevents the JOG Keys entry of foreign material from outside. On the JR3000 Series, it is used on the X Table. The keys on the teaching pendant that are marked with an axis and a movement direction.
Page 139: Management Information
LCD or JR C-Points On the JR3000 Series, it is used in the guide parts of the X and Y axes and the shaft. On the JC-3 Series, it is used inside each slider.
Page 140 Manual Data Input Mode Mode Menu A mode for entering positions. Enter position This displays the screen for selecting the mode. coordinates using the number keys. Pressing the MODE key on the Teaching Pendant Press the F3 (MDI) key on the Position Entry on the Base screen for each mode also switches to this screen to switch to this mode.
Page 141: Movement Control
Move Area Limit Nesting In programming, nesting is when a function is A function that stipulates the movement coordinates contained within another function. Also known as a and angle range for the robot in the program. “nested structure.” This can be run from [Program] and set to each axis, This occurs with commands such as “call_Job”...
Page 142 Option Pallet Routine Number An additional or modiﬁed speciﬁcation/accessory 1. The number assigned to the Pallet Routine included when requested; not supplied for standard created from the [Additional Function Data Settings] models. menu. Numbers 1 to 50 are set in Teaching Mode and There are additional I/O ports, and an emergency numbers 51 to 100 are set in Customizing Mode.
Page 143 Photocoupler Point Job An electrical component for transmitting electrical A function to perform a job speciﬁed by job number signals. Composed of an emitter and a photosensor in after arriving at the set point. an outer casing that blocks external light. Set from job number on the point setting screen.
Page 144 Point Run Point Teaching A function to run individual points while creating a Refers to registering point coordinates, additional program. functions, and jobs, etc. Refer to Functions I . Press the F4 (P.EXEC) key on the Point Settings screen to run the currently displayed point. The settings Point Tool Data Settings screen for the next point then appears.
Page 145 This is a function located in Teaching Mode > A component located on the front of the JC-3 Series Teaching Mode Menu. controller. For the JR3000 Series, it is on controller if This deﬁnes how the point positions are expressed the robot is of the switchbox speciﬁcation.
Page 146 Program Name Protect Mode The name set to a program. Enter the program name Information set to data created in Customizing Mode. in [Individual Program Settings]. Sets the access permissions for accounts that did You can enter up to 120 half-width alphanumeric not create the data.
Page 147 This is a label stating information about the robot. It as a percentage (1 to 100 %) of the maximum PTP is afﬁxed to the side of the base of the JR3000 Series movement speed. and to the side of the controller of the JC-3 Series.
Page 148: Relative Coordinates
Relative Coordinates Robot System Software A position data type. The built-in system software used to operate the Position data values used to indicate the distance robot. from the program start coordinates. You can upgrade the version and change the If the start coordinate is (0, 0), positioning is handled application model of the robot by writing new system the same as for absolute coordinates.
Page 149: Specifications
A function to change the language displayed on the on the I/O identiﬁcation plate sticker, which is afﬁxed teaching pendant. to the base of the JR3000 Series and to the side of the Switch from among English / Japanese / German / controller of the JC-3 Series.
Page 150: Stepping Motor
For the standard JR3000 Series speciﬁcation, it is standards. Of these categories, 0 and 1 are used for on the controller (front), and for the JR3000 Series CE emergency stops. speciﬁcation and JC-3 Series, it is on the switchbox.
Page 151 Subprogram A program called up as a subroutine. TCP is an abbreviation of “tool center point.” This value indicates the position of the tip of the tool attached to the R axis. Subroutine Call Set this in [Tool Data] from [Main TCP Setting] in [Main- Call and execute another program / point job while Tool Conﬁguration] or [Additional Function Data Settings].
Page 152 A diagram showing how the digital signals change with time. Teaching Pendant On the JR3000 Series, it is connected to the robot, Timing Belt and on the JC-3 Series, it is connected to the controller. A toothed belt made of rubber that interlocks the It is used for operations such as teaching and mode motors for each axis with the drive (base, shaft).
Page 153: Variable Definitions
Tool Number 1. The number assigned to the tool data that is set in Variable [Additional Function Data Settings]. Numbers 1 to 50 Data handled within a program that is given a unique are set in Teaching Mode and numbers 51 to 100 are name in the data storage domain so that it is saved set in Customizing Mode.
Page 154 Work Home The point where the robot waits after ﬁnishing a X Axis run until the next run is started. Also known as a work The axis in the depth direction of the robot body. standby point. The coordinate is the distance the X table has You can set a work home in both [Individual Program moved from the home position.
Page 155 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.

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