Page 1 JS3 Series Operation Manual Auxiliary Axis Functions 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, 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 you...
Page 4 • For information regarding optional additions for this robot, refer to “24. SPECIFICATIONS” in the operation manual Specifi cations for the JR3000 Series,“14. SPECIFICATIONS” in the operation manual Specifi cations for the JC-3 Series, and “15. SPECIFICATIONS” in the operation manual Basic Intructions for the JS3 Series.
Page 5: Table Of Contents
CONTENTS PREFACE ............................1 FOR YOUR SAFETY ........................7 1. OVERVIEW ..........................45 1.1 Control Methods........................45 1.2 Preparations Before Running the Robot ................46 2. I/O-MT ............................47 2.1 Connector ..........................47 2.2 Pin Nos. (Robot Side) ......................49 2.3 Function Assignment (NPN)....................
Page 6 4.1 Axis Name ..........................80 4.2 Unit Name ..........................81 4.3 Resolution ..........................81 4.4 Move Area Settings ......................82 4.5 Speed/Acceleration Settings ....................84 4.6 I/O-MT Function Settings ..................... 85 4.6.1 Pulse Output Type ......................85 4.6.2 I/O-MT Signal Logic Settings ..................85 4.6.3 I/O-MT Input Signal Filter ....................
Page 7 6.3 Timing Charts ........................123 6.3.1 Driver Ready ....................... 124 6.3.2 Positioning Complete ....................124 6.3.3 Homing Complete......................124 6.3.4 Driver Error ........................125 6.3.5 Excitation ON ......................125 6.3.6 Deviation Reset ......................126 6.3.7 Homing Start Request ....................126 6.3.8 Driver Error Reset .......................
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, 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 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. Auxiliary Axis Functions DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3 SCARA ROBOT JS3...
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
FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JC-3 Series ■■■■■■■■■■■■■■■■■■ Warning Install the controller within an industrial control panel, and make sure when the industrial control panel door is opened, the controller power is automatically cut oﬀ. In addition, for controllers with a cooling fan, allow for a clearance of 300 mm or more from the top of the controller, as well as 100 mm or more from the air vent on the side.
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 Caution Make sure to construct a power circuit allowing for the rated current so that an interruption to the external power supply DC 48 V does not occur. Failure to do so can cause unit breakdown. External Power Supply Output: DC 48 V, 10 A or more Secure the movable parts of the unit before transportation.
Page 24 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. Auxiliary Axis Functions DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3 SCARA ROBOT JS3...
Page 25 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 26 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 27 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 28 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 29 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 30 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Warning Be sure to use the unit within its indicated voltage range. Failure to do so causes unit breakdown, ﬁre, or electric shock. 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.
Page 31 FOR YOUR SAFETY ■■■■■■■■■■■■■■■■■■ JS3 Series ■■■■■■■■■■■■■■■■■■ Caution Use the robot in an environment that meets the following conditions: • Ambient temperature of 0 to 40 °C • Relative humidity of 45 to 85 % (no condensation) • Altitude not exceeding 1000 m •...
Page 32 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 33 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 34 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 35 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 36 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 37 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 38 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 39 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. Auxiliary Axis Functions...
Page 40 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 41 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 42 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 43 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 44 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 45 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 46: Overview
1. OVERVIEW By equipping the JR3000/JC-3/JS3 Series robot with an I/O-MT connector (optional: with the JR3200 series you can select the optional I/O-MT or I/O-1 connector), the robot can control 2 supportive axes: MT1 and MT2, referred to as “auxiliary axes,” in addition to the 4 axes: X axis, Y axis, Z axis, and R axis.
Page 47: Preparations Before Running The Robot
Attach and connect Refer to “13. I/O-MT,” in the operation manual the device and robot Specifi cations for JR3000 Series, “9. I/O-MT” in the operation manual External Control for JC-3 Series, Adjust on the robot side or “8. I/O-MT” in the operation manual External Control for the JS3 Series.
Page 48: I/O-Mt
2. I/O-MT I/O-MT is a connector for connecting and controlling devices such as the motor driver for an externally attached motor. NOTE: With the JR3200 Series, the I/O-MT and I/O-1 connectors are factory options. If you select to equip the I/O-MT connector, you cannot equip the I/O-1 connector. 2.1 Connector JR3200 Series Example: JR3203N-AC/BC...
Page 49 JC-3 Series Controller Front Example: JC-3C-3 I/O-MT JS3 Series Controller Front Example: JSC3-3520 I/O-MT Auxiliary Axis Functions DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3 SCARA ROBOT JS3...
Page 50: Pin Nos. (Robot Side)
2.2 Pin Nos. (Robot Side) Connector Model Number: PCR-E50PMC (Manufacturer: Honda Tsushin Kogyo) 2.3 Function Assignment (NPN) ■ MT1 Name Function Pin No. Input MT1 Input 1 Driver Ready MT1 Input 2 Positioning Complete MT1 Input 3 Homing Complete MT1 Input 4 Driver Error MT1 Input 5 General Input...
Page 51 ■ MT2 Name Function Pin No. Input MT2 Input 1 Driver Ready MT2 Input 2 Positioning Complete MT2 Input 3 Homing Complete MT2 Input 4 Driver Error MT2 Input 5 General Input MT2 Input 6 General Input MT2 Input 7 General Input MT2 Input 8 General Input...
Page 52: Function Assignment (Pnp)
2.4 Function Assignment (PNP) ■ MT1 Name Function Pin No. Input MT1 Input 1 Driver Ready MT1 Input 2 Positioning Complete MT1 Input 3 Homing Complete MT1 Input 4 Driver Error MT1 Input 5 General Input MT1 Input 6 General Input MT1 Input 7 General Input MT1 Input 8...
Page 53 ■ MT2 Name Function Pin No. Input MT2 Input 1 Driver Ready MT2 Input 2 Positioning Complete MT2 Input 3 Homing Complete MT2 Input 4 Driver Error MT2 Input 5 General Input MT2 Input 6 General Input MT2 Input 7 General Input MT2 Input 8 General Input...
Page 54: I/O Signals
2.5 I/O Signals 2.5.1 Input Signals External Power Supply DC24V COM+ 5.6k (DC24V) #MT1 Input1-8 #MT2 Input1-8 External Power Supply DC24V #MT1 Input1-8 #MT2 Input1-8 5.6k INPUT COM- (GND) Input signals are treated as active when the photocoupler is ON. MT1 and MT2 each have 8 input signal channels (a total of 16).
Page 55: Sensor Input Signals
2.5.2 Sensor Input Signals DC5V SENSOR DC5V COM+ (DC5V) 4.7k 3-Wire Sensor (NPN) ＃MT1,MT2 Sensor I nput1,2 ＃MT1,MT2 Sensor COM- DC5V SENSOR COM+ (DC5V) 3-Wire Sensor (PNP) ＃MT1,MT2 Sensor Input1,2 4.7k ＃MT1,MT2 Sensor COM- The input circuit is equipped with a 4.7 K Ω 5 V pull-up resistor (NPN), pull-down resistor (PNP) for sensor input.
Page 56: Output Signals
2.5.3 Output Signals I/O-MT Side Motor Driver External Power Control Signal Supply DC 24 V COM+ #MT1 Output1 Input Output COM- (GND) Motor Driver External Power I/O-MT Side Control Signal Supply DC 24 V Output COM+ (DC24V) #MT1 Output1 Input COM- MT1 and MT2 each have 6 output signal channels (a total of 12).
Page 57: Pulse Output Signals
2.5.4 Pulse Output Signals External Power Supply DC5−24V #MT1,MT2 Pulse Output COM+ Motor Driver Motor MOSFET #MT1,MT2 CW,CCW Pulse Output #MT1,MT2 Pulse Output COM- External Power Supply DC5−24V #MT1,MT2 Pulse Output MOSFET COM+ Motor Driver Motor #MT1,MT2 CW,CCW Pulse Output #MT1,MT2 Pulse Output COM-...
Page 58: I/O-Mt Option Cord (Unit)
Pink (Black continuous) White (Red 2) Gray (Black 4) Pink (Red continuous) Yellow (Black 2) Gray (Red 4) ■ I/O-MT Connector (Unit) (Optional) Janome Part No.: 170554004 PCR Half Pitch Connector PCR Connector: with Hood: PCR-E50FA+ PCS-E50LPA (Manufacturer: Honda Tsushin...
Page 59: Output Capacity
2.7 Output Capacity Caution Adhere to the voltage capacities outlined in the table below. If you exceed the values listed below, the internal circuits may be damaged. Type Rated Output / Input Output Pin MT1 Output 1 – 6 Photocoupler DC 24 V, 100 mA/pin MT1 Output COM+ Photocoupler...
Page 60: Connection Example
2.8 Connection Example 2.8.1 Input Signals Connection Example: Open Collector (MT1) Motor Driver I/O MT Side Control Signals External Power (DC 24 V) COM+ 20 Output input1 13 Output input8 COM- Motor Driver I/O MT Side Control Signals External Power (DC 24 V) Output input1 13...
Page 61: Sensor Input Signals
2.8.2 Sensor Input Signals DC5V 3-Wire Sensor SENSOR DC5V COM+ (DC5V) 4.7k Sensor ＃MT1,MT2 Sensor Output I nput1,2 ＃MT1,MT2 V－ Sensor COM- DC5V 3-Wire Sensor SENSOR COM+ (DC5V) Sensor ＃MT1,MT2 Sensor Output Input1,2 4.7k ＃MT1,MT2 V－ Sensor COM- Auxiliary Axis Functions DESKTOP ROBOT JR3000 CARTESIAN ROBOT JC-3 SCARA ROBOT JS3...
Page 62: Output Signals
2.8.3 Output Signals Connection Example: Photocoupler Input (MT1) I/O MT Side External Power Motor Driver Supply DC 24 V Control Signals COM+ #MT1 Output1 Input Output COM- (GND) External Power Motor Driver I/O MT Side Supply DC 24 V Control Signals Output COM+ (DC24V) #MT1...
Page 63: Pulse Output Signals
2.8.4 Pulse Output Signals ■ Connection Example: Photocoupler Input Type Driver I/O MT Side Motor Driver Control Pulse Output Common+ External Power Signals (DC5V – 24V) CW Pulse Input+ CW Pulse Output CW Pulse Input- Limiting Resistor* CCW Pulse Input+ CCW Pulse Input- CCW Pulse Output Limiting Resistor*...
Page 64 ■ Connection Example: Single Ended Input Type Driver I/O MT Side Pulse Output Common+ External Power Pull-up Resistor* (DC5V – 24V) Motor Driver Control Signals CW Pulse Input CW Pulse Output CCW Pulse Input CCW Pulse Output Pull-up Resistor* Pulse Output Common- I/O MT Side Pulse Output COM+ External Power...
Page 65: Circuit Diagram (Npn)
2.9 Circuit Diagram (NPN) MT1 Circuit Diagram NPN ■ Input ■ Output PIN No. PIN No. COM+ Output 1 5.6k Input 1 Output 2 5.6k Input 2 Output 3 5.6k Input 3 Output 4 5.6k Input 4 Output 5 5.6k Input 5 Output 6 5.6k...
Page 66 MT2 Circuit Diagram NPN ■ Input ■ Output PIN No. PIN No. COM+ Output 1 5.6k Input 1 Output 2 5.6k Input 2 Output 3 5.6k Input 3 Output 4 5.6k Input 4 Output 5 5.6k Input 5 Output 6 5.6k Input 6 COM-...
Page 67: Circuit Diagram (Pnp)
2.10 Circuit Diagram (PNP) MT1 Circuit Diagram PNP ■ Input ■ Output PIN No. PIN No. Input 1 5.6k COM+ Input 2 5.6k Output 1 Input 3 5.6k Output 2 Input 4 5.6k Output 3 Input 5 5.6k Output 4 Input 6 5.6k Output 5...
Page 68 MT2 Circuit Diagram PNP ■ Input ■ Output PIN No. PIN No. Input 1 5.6k COM+ Input 2 5.6k Output 1 Input 3 5.6k Output 2 Input 4 5.6k Output 3 Input 5 5.6k Output 4 Input 6 5.6k Output 5 Input 7 5.6k Output 6...
Page 69: Pulse Output
2.11 Pulse Output With the auxiliary axis configuration [Output Pulse Type], you can select an output wave-type pulse. NOTE: • The MT1, MT2 pulse output signals have a maximum of 250 kHZ (250 kPPS). • The pulse duty ratio is 50 % when the speed is 1000 [Hz] (1000 [PPS]) or more. When less than 1000 [Hz] (1000 [PPS]), the pulse width is fixed at 0.5 msec and the pulse duty ratio is less than 50 %.
Page 70: Type 2 (Command Pulse + Directional Signal Output)
2.11.2 Type 2 (Command Pulse + Directional Signal Output) Signals which indicate the pulse number are output from pulse output 1 terminal. Signals which indicate the direction are output from pulse output 2 terminal. If the signals are OFF, the pulses are positive direction; if the signals are ON, the pulses are negative direction.
Page 71: External Device Preparation
CCW pulse Command pulse input connector (the name varies depending on the device) Controlled Motor, etc Device JR3000 Series: Robot I/O-MT connector JC-3/JS3 Series: Controller Example: JR3000 Series Control signal input/output connector (the name varies depending on the device) Auxiliary Axis Functions...
Page 72 Designates position number etc., from the robot (not I/O-MT) to the device Controlled Motor, etc. Device JR3000 Series: Robot Control signal input/output connector JC-3/JS3 Series: Controller (name varies depending on the device) Example: JR3000 Series Use I/O-SYS, I/O-1, Fieldbus I/O etc.
Page 73: Device Control Methods
3.1.2 Device Control Methods There are certain precautions that need to be taken according to the device’s control methods. ■ Open Loop Type Devices (Stepping Motor, etc.) With open loop type devices such as a stepping motor etc., a step-out occurs (there is a discrepancy between the instructed position and the actual position) if a speed, acceleration and/or external force exceeding the rated value is assigned to the device.
Page 74: Connection And Wiring Standards
3.2.1 System Structure Example This is an example of connecting a motor driver to I/O-MT and powering the motor. Signal DC24V Power Supply Motor Driver Motor JR3000 Series: Robot I/O-MT JC-3/JS3 Series: Controller Motor Power Example: JR3000 Series Supply Prepare the signal DC24V power supply and motor power supply on your end.
Page 75 The following shows an example of the safety circuit. JR3000 Series (1) With Outlet The outlet is linked to the robot’s emergency stop switch, and the output is cut OFF during an emergency stop.
Page 76 I/O-MT is also connected. Refer to “2.13 AC Power Control of an External Device during an Emergency Stop” in the JR3000 Series operation manual External Control for details. JC-3 Series Use the EMG OUT connector to construct a circuit that shuts OFF the drive power of I/O-MT as well as the drive power input of the controller.
Page 77 JS3 Series Use the I/O-S connector to construct a circuit that shuts OFF the drive power supply for I/O-MT. Push the emergency stop switch to open the emergency stop contact. The safety circuit monitors the emergency stop contacts 1-2 and 3-4 of I/O-S, and if it detects that one of the contacts is open, shut OFF the drive power supply for the MT axes.
Page 78: Control Signal Support Example
3.2.2 Control Signal Support Example The table below shows an example of robot side signal and device side signal relationship. Robot Side Signals (I/O-MT) Device (motor driver etc.) Side Signal Examples Pos. logic READY signal, Ready, Servo Ready, Ready to Run, etc. Driver Ready Neg.
Page 79: Device Assembly
■ Caution Signals with the same names may have diﬀerent operations depending on the device. Refer to the instruction manual and/or specifications and data sheets etc. for your device, and confirm whether or not the signals are compatible with the robot side. There may be no signal controls with the auxiliary axis functions which match the operations of the device you are controlling.
Page 80: Auxiliary Axis Configuration
4. AUXILIARY AXIS CONFIGURATION Before teaching or running points and programs, first make the auxiliary axis configuration settings. Auxiliary axis configuration is a settable function to adjust the command pulses and/or various control signal output methods from the robot in accordance with the amount of movement and operation methods of your device.
Page 81: Axis Name
■ Caution Make note of the following in regards to Axis Name, and Unit Name. • You cannot leave the Axis Name blank. You need to set at least one character. • Set character strings which you can easily distinguish from the (X, Y, Z, R) axes of the robot. •...
Page 82: Unit Name
For this situation, The table moves set resolution to 0.02 [mm] 1 pulse is output from I/O-MT 0.02 [mm/pulse]. JR3000 Series: Robot Motor Driver Slider I/O-MT JC-3/JS3 Series: Controller Example: JR3000 Series After making these settings, create point teaching data to move the electric slider to a position of 10mm.
Page 83: Move Area Settings
4.4 Move Area Settings This is a setting to limit the pulse range of output pulses. With this you can limit the operating range of the controlled device. The following items can be set: Settable Items Details Area Out Detection Valid If the operation position coordinate values exceed either the maximum move area or minimum move area, or the area...
Page 84 Lower Move Upper Move Limit 0 [mm] Limit 300 [mm] Table I/O-MT JR3000 Series: Robot Motor Driver Slider JC-3/JS3 Series: Controller Example: JR3000 Series ■ Setup Example (When [Area Out Detection] is set to [Invalid]) When using a device with no operation range limitations, if you set [Area Out Detection] to [Invalid], the device can continue operating in one direction.
Page 85: Speed/Acceleration Settings
4.5 Speed/Acceleration Settings This sets the maximum speed and maximum acceleration of the output pulses. With this you can limit the operation speed and/or acceleration of the controlled device. The following items can be set: Settable Items Details Start-up Speed This is the initial speed when movement starts.
Page 86: I/O-Mt Function Settings
4.6 I/O-MT Function Settings With I/O-MT function settings, you can set the input and output methods for the various input/ output signals. For details regarding input/output signal timing charts, refer to “6.3 Timing Charts.” For details regarding the I/O-MT connector internal circuit, refer to “2.
Page 87 ■ When output signals are set to [Negative Logic] When output signals are set to [Negative Logic], they go into the “True” state (the internal photocoupler is de-energized) immediately after the robot is turned ON. Once the robot completes run preparation, the signals go into the “False” state (the internal photocoupler is energized). If this action causes problems, after setting the I/O-MT signal logic to [Positive Logic], handle the signal by reversing the signal in the robot’s external circuitry, or by modifying the signal logic with the settable functions on the controlled device.
Page 88: I/O-Mt Input Signal Filter
Name Function True/False Details Request to clear the deviation between the command True Output 2 Deviation Reset position and the actual position for the device. False Drop the request to clear the deviation for the device. True Request to perform a homing operation for the device. Homing Start Output 3 Drop the request to perform a homing operation for the...
Page 89: Homing Settings
4.7 Homing Settings The homing operation is a process and/or operation to match the home position administered by the robot (the position with an output pulse number of 0) with the home position of the controllable device. You can set the homing method and/or parameters with the homing settings. 4.7.1 Homing Type You can make the following selections with homing type: Selectable Item...
Page 90: Homing Parameters
4.7.2 Homing Parameters With homing parameters you can set the distance and speed related to the homing operation. Make sure to set an appropriate distance and speed which matches the characteristics of the controllable device so as to not cause position oﬀsets etc. The required parameters vary depending on the homing operation method.
Page 91: Execution Timing
Homing Parameters Details Homing Speed 1 The speed at which the [Valid Distance] movement is made. Homing Speed 2 After the [Reverse Distance] movement is made, this is the speed at which the auxiliary axes move until the homing sensor goes OFF and/or the speed at which the [Timing Signal Distance] movement is made.
Page 92: Jog Movement Speed
JC-3 absolute encoder models and the JS3 Series do not perform a mechanical initialization before a run and therefore provides the following sections: Homing Parameters Details On Start of Cycle The homing operation for the auxiliary axes is performed when the program run starts.
Page 93 ■ MT1 Movement Validation Screen/MT2 Movement Validation Screen At this screen, you can perform GO key movements, JOG movements, and homing operations. You can also check the I/O-MT signals and the current position within a movement. Item Details I/O-MT1/MT2 IN This displays the input/output status of the I/O-MT signals.
Page 94 Function When the test move method is set to [Position], the axes move to the specified position. When set to [Distance], the axes move from the current position by the exact specified distance. The speed and acceleration of the axes is performed in accordance with the values specified in the test speed.
Page 95: Teaching
PTP conditions can be set in additional functions, individual program settings, and all program common settings. The settings related to MT1 and MT2 are shown below. For information regarding other PTP condition items, refer to the PTP condition explanations in the operation manual Functions I . ■ JR3000 Series Item Model...
Page 96 ■ JC-3 Series Item Model X Speed Limit X Acceleration Limit Y Speed Limit JC-3 Series (3 Axis/4 Axis Specification Models) Y Acceleration Limit Z Speed Limit Z Acceleration Limit MT1, MT2-Axis Move Speed JC-3 Series (3 Axis Specification Models) R, MT1, MT2-Axis Move Speed JC-3 Series (4 Axis Specification Models) MT1, MT2-Axis Acceleration...
Page 97: Cp Conditions
5.2 CP Conditions CP conditions can be set in additional functions, individual program settings, and all program common settings. The setting related to MT1 and MT2 are shown below. For information regarding other CP condition items, refer to the CP condition explanations in the operation manual Functions I . Item Model MT1, MT2-Axis Move Speed...
Page 98: All Program Common Settings, Individual Program Settings
5.3 All Program Common Settings, Individual Program Settings This section explains the settable content for the auxiliary axes. For basic information regarding all program common settings and individual program settings, refer to the operation manuals Basic Instructions , Functions I , and Functions III . 5.3.1 Move Area Limit Settings You can set the move area limit for the auxiliary axes in the same way that you do for the X, Y, Z, R axes of the robot.
Page 99: Point Teaching
5.4 Point Teaching You can teach points using JOG function and MDI input in the same way that you do for the X, Y, Z, R axes of the robot. When entering new points in Teaching Mode, the screens appear like the ones shown below. Position Entry Screen (Point 1) Position Entry Screen (Point 2) Program 1...
Page 100 When you have points with content already entered into them, the screens appear like the ones below. Base Screen Position Entry Screen Program 1 Program 1 X+23 Y+112 Z+25 R+12 ＞ X 22 mm Optional Motor 1 123.45 mm 　Y 112 mm Select the point coordinates Optional Motor 2...
Page 101: Commands, Variables And Functions
5.5 Commands, Variables and Functions This section explains the commands, variables and functions related to the auxiliary axes. num is a numeric type (numerical value type) and str is a string type (character string). 5.5.1 Commands ■ Category: Movement Command Parameter Details lineMove...
Page 102 Command Parameter Details initMec Specified Perform a homing operation (mechanical initialization) with the axis specified axes. JR3000/JC-3 Series: Speciﬁed Details axis This is a homing operation for all axes (X, Y, Z, R, MT1, MT2). Executed in the following order: The axes (MT1, MT2) specified in [Execution Timing] ...
Page 103 Command Parameter Details initMec Specified JS3 Series: axis Speciﬁed Details axis This is a homing operation for the auxiliary axes (MT1, MT2). Executed in the following order: The axes (MT1, MT2) specified [Execution Timing]  [Before Work Home Move]. The axes (MT1, MT2) specified in [Execution Timing] ...
Page 104 ■ Category: Mono Movement Command Parameter Details monoMove Specified axis Makes movement for 1 specified axis. You can specify the axis from among the X, Y, Z, R axes and the auxiliary MT1 and MT2 axes of the robot. mMoveDistance Distance This specifies the distance for movement using the monoMove command.
Page 105: Built-In Variables
With the mMoveAccelTime command, the rate of acceleration during the movement (the amount of speed increased every 1 second) is determined from the acceleration time and speed. Depending on the acceleration time and speed combination, acceleration may exceed the default acceleration rate (100 %) or the robot may instantly reach the specified speed with no area of acceleration.
Page 106: Built-In Functions
5.5.3 Built-In Functions Type Identiﬁer Details getMtIn (num mt, num in_no) This returns the I/O-MT input signal status. getMtOut (num mt, num out_no) This returns the I/O-MT output signal status. setMtOut (num mt, num out_no, num onoﬀ) This outputs the I/O-MT output signal. getMtSensor (num mt, num sensor_no) This returns the I/O-MT sensor input status.
Page 107 ■ getMtIn Identifier num getMtIn (num mt, num in_no) Explanation Returns the I/O-MT input signal status. The setting content of the I/O-MT signal logical settings is not applied. Argument Specify MT1/MT2 (1:MT1, 2:MT2) in_no Specify input number. For details regarding input numbers, refer to “2.
Page 108 ■ setMtOut Identifier num setMtOut (num mt, num out_no, num onoﬀ) Explanation Outputs the I/O-MT output signal. The setting contents of the I/O-MT signal logical settings are not applied. Argument Specify MT1/MT2 (1:MT1, 2:MT2) out_no Specify output number. For details regarding output numbers, refer to “2.
Page 109 ■ getMtPosition Identifier num getMtPosition (num mt) Explanation Returns the position coordinate values of the current command. The position coordinate values are values derived by multiplying the output pulse number to the resolution. Depending on the characteristics of the device to be controlled, tracking may be delayed with respect to the command.
Page 110 ■ enableMtMoveArea This is a function to process homing operations. Do not use this for anything other than homing operations. Identifier num enableMtMoveArea (num mt) Explanation Re-enable area out detection which was temporarily disabled by the disableMtMoveArea() function. With any point job other than a homing operation, an expression evaluation error occurs and the point job cannot be executed.
Page 111: System Flags
■ System Flags System ﬂags diﬀer from the built-in functions getMtIn() , getMtOut() , getMtSensor() as they return true (1) / false (0) responses according to the I/O-MT signal logic settings. Identiﬁer Details True (1) Conditions 200 #Fmt1Moving MT1 is moving 201 #Fmt2Moving MT2 is moving 202 #Fmt1Ready...
Page 112 ■ No.204 #Fmt1InPosition / No.205 #Fmt2InPosition The true (1) / false (0) responses vary according to the [Positioning Complete] I/O-MT signal logic settings. I/O-MT Signal Logic True (1) Conditions Invalid Always true Positive Logic When the [Positioning Complete] signal is energized (ON) Negative Logic When the [Positioning Complete] signal is de-energized (OFF) ■...
Page 113: Homing Operations Via Point Jobs
■ No.212 #Fmt1Timing/No.213 #Fmt2Timing The true (1) / false (0) responses vary according to the I/O-MT signal logic settings of [Timing Signal]. I/O-MT Signal Logic True (1) Conditions Invalid None (always false (0)) Positive Logic When the [Timing Signal] signal is energized (ON) Negative Logic When the [Timing Signal] signal is de-energized (OFF) 5.6 Homing Operations via Point Jobs...
Page 114: Point Job Creation
5.6.2 Point Job Creation Temporarily disable “Area Out Detection” (only when required). To perform a homing operation, you may need to temporarily move the axes to a position which exceeds the move area. To do this, use the built-in function disableMtMoveArea() . This can temporarily disable “Area Out Detection”.
Page 115: Example Of A Homing Operation Via A Point Job
5.7 Example of a Homing Operation via a Point Job This section shows an example of a point job when signals such as the ones below are connected. I/O-MT Signal Signals on the controlled device MT1 Output 1 This signal excites the motor. OFF when the motor is excited.
Page 116 let enableMtMoveArea (1) Re-enable the MT1 area out detection delay 1000 After the CP movement stops, wait for the motor to stabilize let clearMtPosition (1) Clear the MT1 output pulse number to 0 returnJob End the point job (homing operation complete) Label1 Error treatment label let enableMtMoveArea (1)
Page 117: Run
6. RUN The ON/OFF indicators of the I/O-MT signals are shown when I/O-MT signal logic settings are set to [Positive Logic]. When set to [Negative Logic], the ON/OFF indicators are backwards. 6.1 Homing Operation Before the homing operation movements are made, the following processes are performed: Clear the deviations.
Page 118: Start And Completion
6.1.1 Start and Completion ■ Timing Chart Oﬀset Distance 10 msec or more Output Pulse I/O-MT Output Homing Start Request I/O-MT Input Homing Complete Device Operation Device Homing Operation If there is a problem with the homing operation, the error in the following table occurs: Error Details Homing Move Timeout...
Page 119 ■ Timing Chart Reverse Distance Oﬀset Distance Positive Direction Pulse Speed 3 Speed 2 Negative Direction Pulse Speed 1 I/O-MT Input Homing Sensor If there is a problem with the homing operation, the error in the following table occurs: Error Details Homing Move Timeout The elapsed time from the start of the homing operation exceeded the...
Page 120: Timing Signal Type
6.1.3 Timing Signal Type ■ Operation Image Area Where the Reverse Distance Sensor is Blocked Homing Operation Start Position Homing Operation Speed 1 Homing Operation Homing Operation Speed 2 Speed 3 Oﬀset Distance Timing Signal Timing Signal Result (executed result) Timing Signal Length (set value) At the start of the homing operation, if the axes are already in the area where the sensor is blocked, the axes move at homing operation speed 2 in the positive direction until the sensor is released, and...
Page 121 If there is a problem with the homing operation, the error in the following table occurs: Error Details Homing Move Timeout The elapsed time from the start of the homing operation exceeded the Error homing operation parameter [Timeout Period]. Homing Operation Movement started from outside of the area where the sensor is Sensor Error blocked and even though the axes moved the distance specified in the...
Page 122 ■ Homing Operation Precautions for Devices with Rotational Motions The direction of operation for homing operations performed via the [Sensor Position Type] or [Timing Signal Type] are determined depending on the sensor ON/OFF status, regardless of the position coordinate values at the start of the operation. For controlled devices with rotational motions such as for a dispensing syringe etc., you need to take note of the rotation.
Page 123: Movement
6.2 Movement 6.2.1 PTP Movement MT1 and MT2 are paired with the X axis, Y axis, and R axis. The speed of each axis is adjusted so that they arrive at their destinations at the same time and their movements are synchronous. The Z axis ascends/descends independently from the other axes.
Page 124: Timing Charts
■ [Timing Signal Type] Homing Operation Start the position oﬀset detection movement Make a PTP movement until the position coordinate values are 0. Move in the negative direction for the distance of the homing operation parameter [Oﬀset Distance]. Move in the negative direction for the distance of the homing operation parameter [Timing Signal Distance].
Page 125: Driver Ready
6.3.1 Driver Ready Start/Stop Switch or start signal I/O-MT Pulse Output Point 1 Pulse Output I/O-MT Driver Ready Input If Driver Ready is OFF at the start of the run, a “not ready” error occurs and the pulse output is not started.
Page 126: Driver Error
6.3.4 Driver Error I/O-MT Pulse Output Output I/O-MT Driver Error Input An error or alarm etc., Within 10 msec occurs with the device If Driver Error comes ON during a run or when starting a run, an error occurs and pulse output stops. For further details regarding error resets after an error has occurred, refer to “6.3.8 Driver Error Reset.”...
Page 127: Deviation Reset
6.3.6 Deviation Reset Deviation Reset is performed during a homing operation. For information regarding homing operations, refer to “6.1 Homing Operation.” 10 msec or more I/O-MT Deviation Reset Output Positioning I/O-MT Complete Input The Deviation Reset operation consists of the following: Turn [Deviation Reset] ON.
Page 128: Driver Error Reset
6.3.8 Driver Error Reset Errors and alarms which occur on the device can be cleared by instructing an error reset from I/O-SYS. Pendant Display When an Error Occurs Switch Run Mode Program 1 Point Number 2 Error 71 Motor Driver Error sysOut6 (JR3000), sysOut8 (JC-3), sysOut7 (JS3) I/O-SYS Error Output sysIn11 (JR3000),...
Page 129: Release Brake
Robot in error status sysOut6 (JR3000), sysOut8 (JC-3), I/O-SYS sysOut7 (JS3) Output Error sysIn11 (JR3000), sysIn4 (JC-3), sysIn3 (JS3) I/O-SYS Error Reset (JR3000) Reset (JC-3, JS3) Input Driver Error I/O-MT Reset Output I/O-MT Driver Error Input An error which cannot be cleared on the device occurs Depending on the device type and/or the error type, there are some situations where errors cannot be cleared on the device.
Page 130: Error Message List
7. ERROR MESSAGE LIST The error numbers for errors relating to the auxiliary axes are the same for MT1 and MT2. The name of the error and the aﬀected axis (“MT1” or “MT2”) are displayed on the teaching pendant. For details regarding errors relating to the robot’s drive axes (X, Y, Z, R) or errors not listed in the table below, refer to the operation manual Maintenance .
Page 131 Error Display Details, Methods of Handling Homing Move The homing sensor did not respond to the homing operation. Sensor Error For further details, refer to “6.1.2 Sensor Position Type” “6.1.3 Timing Signal Type.” Homing Move Timing The timing signal did not respond to the homing operation. Signal Error For further details, refer to “6.1.3 Timing Signal Type.”...
Page 132: Diagnostic Mode
8. DIAGNOSTIC MODE Caution After performing diagnostics, always make sure to turn the robot OFF. If you make runs or perform jobs without turning the robot OFF, the robot may not function correctly. 8.1 MT1/MT2 Pulse Input/Output This is a screen for performing diagnostics on the I/O-MT output pulses. MT1 Pulse Input/Output Settings of Output Pulse Number of Output Pulse...
Page 133: I/O-Mt
8.2 I/O-MT This is a screen for performing diagnostics on the various I/O-MT input/output signals. Signals ON (the internal photocoupler is energized) are displayed as “1,” and signals OFF (the internal photocoupler is de-energized) are displayed as “_.” I/O-MT 87654321 I/O-MT1 IN ______11 I/O-MT2 IN...
Page 134 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. © 2014–2020, Janome Sewing Machine Co., Ltd.

This manual is also suitable for:

Jc-3 series Js3 series Jr3200 Jr3300 Jr3400 Jr3500 ... Show all

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