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Janome JR3200 series, Operation Manual

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Janome JR3200 series Operation Manual Download Page 42

Setup 

Desktop Robot JR3000 

 
 

„

  TCP-

∆

Z 

After changing tools etc., if the tool height is different from the registered tool center point position, 
enter the Z-direction difference to TCP-

∆

Z.   

 

NOTE: When  adding  a  new  program,  the  values  of  the  default  all  program  common  settings 

(customizing data) are entered as program data default values. 

 
Additionally, when using the additional function data [Tool Data], you can change tool data at intervals 
between specific points. For example, it is possible to change the registered tool mass settings for only 
the period of time it is gripping something.     
 

  MENU    [Individual Program Settings] 

[Tool Data] 

NOTE: When the bottommost item shown is highlighted, press the    CURSOR        key to display 

the other settable items for that point. 

 

[Program] 

Æ

 [Individual Program Settings] 

Æ

 [Tool/Workpiece] 

Æ

 [Tool Data] 

 
 

7.2  4-Axis Specifications: Tool Data 

The following settings are in [Tool Data]:   

•

  Tool Mass (mass affecting the Y axis) 

•

  TCP-X: The X direction distance from the R axis center to the tool tip. 

•

  TCP-Y: The Y direction distance from the R axis center to the tool tip. 

•

  TCP-

∆

Z: The Z direction distance from the tool  tip height during  teaching to  the current tool  tip 

height. 

 
The offset value for the offset from the tool tip is referred to as the tool center point (TCP). 
 

„

  Tool Mass 

[Tool Mass] refers to the total mass of the tool and of the object which the tool is holding. Make sure 
this mass is equal to or lower than the registered mass. The settings are as follows: 

 

Tool Mass 

1 

2 

3 

JR3200 

1 kg 

3.5 kg 

 

JR3300, JR3400 

1 kg 

4 kg 

7 kg 

 
 

 

TP 

PC 

Caution

 

If  the  tool  mass  is  heavier  than  the  registered  settings,  a  position 
error may occur. 

41 

Summary of Contents for JR3200 series

Page 1: ... contains important safety information z After reading this manual store in a safe place that can be easily accessed at any time by the operator z This manual is written according to IEC 62079 Original Instructions Operation Manual Setup For Installation Operators Installation operators are persons who have undergone installation training at Janome or at a representative branch People responsible ...

Page 2: ...bot Quick Start Explains the actual operation of the robot by creating and running simple programs Teaching Pendant Operation Explains how to operate the robot via the teaching pendant Functions I Explains point teaching Functions II Explains commands variables and functions Functions III Explains functions such as All Program Common Settings and PLC programs Functions IV Explains Customizing Func...

Page 3: ...nformation is needed when replacing internal circuit boards Always make sure the machine is grounded through the power cord Do not use the machine when it is not grounded Improper grounding causes electric shocks fires malfunction and unit breakdown Warning Warning Make sure that the machine power supply is OFF before connecting the power cord Failure to do so could cause electric shock and or inj...

Page 4: ...oints II Limited Edition Requirements 29 2 6 2 LAN Cable 30 2 6 3 LAN Port 31 2 6 4 Communication Settings IP Address Settings 31 2 6 5 Robot IP Address Settings 32 2 6 6 PC IP Address Settings 32 3 BACKING UP AND RESTORING ROBOT DATA 33 3 1 Backup Data 33 3 2 Restore Data 34 3 3 Backing Up and Restoring Data Via USB Memory 34 4 SENDING AND RECEIVING C T DATA 35 5 TRANSMITTING ROBOT SYSTEM SOFTWAR...

Page 5: ...op Robot JR3000 8 2 1 Changing Program Numbers 45 8 2 2 Program Number Reading Format 45 8 2 3 Program Number Switching Method 46 8 3 I O S Settings Optional 47 9 CONVERTING JR2000 JR2000N DATA TO JR3000 DATA 48 4 ...

Page 6: ...se safety guidelines and misusing the robot are classified by the following symbols This symbol indicates an imminent risk of serious injury or death This symbol indicates a risk of serious injury or death This symbol indicates the possibility of serious injury or damage to property The following symbols list the nature of the danger and any necessary safety methods to be taken Indicates caution m...

Page 7: ...Safety Measures Always set up a safety enclosure or cover the robot with a guard so the moveable parts cannot be touched Anyone within the maximum reach of the robot and the auxiliary axes it is controlling may be injured Using the I O S connector accessory set up an emergency stop interlock system that cuts off the motor power to the auxiliary axes and is triggered when the entrance to the safety...

Page 8: ...n Japan who engage in teaching inspections adjustments and or repairs must take lectures as part of the special education for industrial robots as stipulated by Article 59 of the Japan Industrial Safety and Health Act and the related regulations Likewise when using the robot outside of Japan make sure to do so according to the laws and guidelines of the country where it is used Before performing a...

Page 9: ...y measures can result in injury If objects that the robot grasps have a risk of falling or being projected take into account the size weight and chemical composition of the objects for the required safety precautions Failure to do so can result in injury or unit breakdown When working within the safety enclosure make sure not to come within the maximum range of the robot Failure to do so can cause...

Page 10: ... over causing injury and unit breakdown Also inadequate installation causes overheating and fire Make sure to power the unit within its rated current range Failure to do so causes electric shocks fires and unit malfunction Plug the power cord into the wall outlet firmly Failure to do so causes the plug to heat up resulting in fire Be sure to use the unit within its indicated voltage range Failure ...

Page 11: ... cords and cables such as the teaching pendant cable Failure to do so causes electric shock fire data loss and unit malfunction Do not attempt to disassemble or modify the unit Disassembly or modification causes electric shocks and unit malfunction Do not allow water or oil to come in contact with the unit control box or the power cord Contact with water or oil causes electric shock fire or unit m...

Page 12: ... unit take safety measures such as setting up area sensors and an enclosure If there are no safety measures in place and someone enters the area of operation when the robot is running they may be injured 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 sto...

Page 13: ...s to the main unit Improper wiring causes unit malfunction or breakdown Secure the movable parts of the unit before transportation Failure to do so causes injury or breakdown When lifting and transporting the robot do so with 2 or more people Failure to do so causes injury or breakdown Use the unit in an environment that is not exposed to direct sunlight Direct sunlight causes unit malfunction or ...

Page 14: ...l 1 Dispenser Electric Screwdriver etc PLC etc Switchbox Switchbox specification robots only RS 232C Cable 1 2 Area Sensor etc 1 Teaching Pendant Optional Robot Example JR3203N BC Windows is a registered trademark of Microsoft 1 Not included 2 An RS 232C port on the back of the robot is optional 13 ...

Page 15: ... of the unit and the wall If installation is inadequate the unit can drop or fall over causing injury and unit breakdown Also inadequate installation causes overheating and fire Do not drop or jar the unit during transport and or installation This causes injuries or damages the unit Use the unit in an environment between 0 and 40 C with a humidity level of 20 90 and without condensation Use outsid...

Page 16: ...e are for reference only NOTE The robot may rattle depending on the tool mass If so be sure to secure the unit To secure the unit remove the rubber feet and use the 4 M8 screw holes used for fastening the rubber feet Have at least 2 people carry the unit when transporting it The unit s mass is 20kg for 3 axis specifications and 22kg for 4 axis specifications 40 1 275 3 210 4 M8 4 φ30 Rubber Feet E...

Page 17: ...ding on the tool mass If so be sure to secure the unit To secure the unit remove the rubber feet and use the 4 M8 screw holes used for fastening the rubber feet with spacers of a height of 20mm or more due to protrusions Have at least 2 people carry the unit when transporting it or use a lifter The unit s mass is 35kg for 3 axis specifications and 38kg for 4 axis specifications 16 ...

Page 18: ...ot may rattle depending on the tool mass If so be sure to secure the unit To secure the unit remove the rubber feet and use the 4 M8 screw holes used for fastening the rubber feet with spacers of a height of 20mm or more due to protrusions Use a lifter to transport the unit The unit s mass is 42kg for 3 axis specifications and 46kg for 4 axis specifications 17 ...

Page 19: ... ring included in the package to the teaching pendant to hang it up Also if you are using the teaching pendant as a monitor during use in Run Mode install at an easy to operate height of 60cm or higher from the ground Phillips Pan TAPTITE Screw 3x8 B Hanging Ring Teaching Pendant Rear 18 ...

Page 20: ...iceNet CC Link only attach the included FB Cover to the main unit with the screws included to protect the terminal Switchbox Specifications Front View Example JR3203N BC Teaching Pendant COM1 RS 232C PC Fieldbus 1 optional MEMORY LAN FB Cover Screw Holes Screw Holes Switchbox Install the switch box 60cm or higher from the floor and at a height convenient for operation 19 ...

Page 21: ...wo lead wires short circuited If nothing is connected the robot will not operate Always use dust covers on unused connectors except the outlet to prevent malfunction from static electricity and or dust etc I O 1 or I O MT optional I O SYS COM2 RS 232C optional COM3 RS 232C optional I O S optional INLET 3 2 Power Cord Area Sensor etc I O S Connector optional Attention 20 ...

Page 22: ...d Switch Specifications Front View Example JR3303N AC Switchbox Specifications Front View Example JR3303N BC LAN MEMORY Teaching Pendant COM1 RS 232C Switchbox Install the switch box 60cm or higher from the floor and at a height convenient for operation 21 ...

Page 23: ...lways use dust covers on unused connectors except the outlet to prevent malfunction from static electricity and or dust etc I O 1 optional I O SYS COM2 RS 232C optional COM3 RS 232C optional I O S optional INLET 2 Area Sensor Power Cord I O MT optional Fieldbus 1 optional Depending on the specs the robot may or may not have an outlet and the shape may vary FB Cover Screw Holes Screw Holes OUTLET 3...

Page 24: ...tch Specifications Front View Example JR3403N AC Installed Switchbox Specifications Front View Example JR3403N BC LAN MEMORY Teaching Pendant COM1 RS 232C Switchbox Install the switch box 60cm or higher from the floor and at a height convenient for operation 23 ...

Page 25: ... Always use dust covers on unused connectors except the outlet to prevent malfunction from static electricity and or dust etc COM3 RS 232C optional COM2 RS 232C optional I O 1 optional I O SYS I O S optional OUTLET INLET Power Cord 3 I O S Connector optional I O MT optional Fieldbus 1 optional 2 Area Sensor Depending on specs the robot may or may not have an outlet and the shape may vary Screw Hol...

Page 26: ...ded COM2 COM3 RS 232C Straight D SUB 9 Pin socket type Not included For extensions camera etc Not included SWITCH BOX Integral to the switch box Switchbox TPU Integral to the teaching pendant Teaching Pendant I O S I O S connector Use the connector to create a safety circuit Area Sensor Safety Guard Switch etc Not included INLET Power cord Use an appropriate power cord for the power source you are...

Page 27: ...nduct general confirmation tests through a model setup Please conduct final confirmation tests and risk assessments for your machine and its overall setup to make sure it conforms to the MD and EMC Directives 2 5 5 Protective Grounding The power cord has an equipment grounding conductor and a grounding plug Make sure to ground the robot using the power cord Warning Always make sure the machine is ...

Page 28: ...ot movements Cables for various devices Air Tube Various Devices Cable Tie included Bundle and tie up the air tubes cords and cables with the cable ties Cord Clamp included Fix the cord clamps in 3 places along the Y axis according to the size of the robot Z Stroke Y Stroke NOTE Tie up the cables so there is no stress on them when each of the axes run full stroke Example JR3403N AC 27 ...

Page 29: ... etc 4 Monitor functions such as external I O and Fieldbus I O display etc 5 Set online settings such as administration settings and teaching environment settings etc 6 Display robot information such as system information and error history etc If using Ethernet you can connect to and use multiple robots with one PC via a hub With the PC software JR C Points II Limited Edition or JR C Points II you...

Page 30: ...e required memory capacity and hard disk capacity can vary depending on the PC s system requirements Also take care when using a PC because if there is not enough free hard disk space it can result in insufficient memory during operation or other such problems How to install JR C Points II Limited Edition 1 Startup Windows and confirm it is operating properly Also close down any other open applica...

Page 31: ...he robot and the other into the LAN port on the PC If you are using JR C Points II optional to operate the robot from the PC please remove the teaching pendant You cannot operate the robot with the teaching pendant connected You cannot use a teaching pendant with an emergency stop switch optional unless a short connector is connected LAN Settings To get the robot and PC to interface you need to se...

Page 32: ... done using the PC software JR C Points II Limited Edition JR C Points II Limited Edition is included on the Operation Manual CD You can set the IP address from your PC using Ethernet To set the IP address via Ethernet you need to establish communication settings TCP IP settings on the PC side Please take note of the following points for PC communication settings TCP IP To use Ethernet functions y...

Page 33: ... make the following settings IP Address initial settings 192 168 200 180 Subnet Mask initial settings 255 255 255 0 Turn the power to robot OFF and then ON again to apply the new settings NOTE After modifying the settings and exiting Administration Settings Mode the system is reset and the settings are enabled 2 6 6 PC IP Address Settings Set the IP address if the IP address is not already set on ...

Page 34: ...iles held by the robot are read and saved as a file If you do not specify an extension the file is saved as a JRB extension file Select Backup Robot Data from the Robot pull down menu to display the dialog below Click the file icon and specify the name of the backup file and the location where you want to save it An existing file can also be specified Click Backup to start the backup operation Aft...

Page 35: ...u The dialog to the right is displayed Click the Open File icon specify the backup file and click Restore After the restoration is complete restart the robot 3 3 Backing Up and Restoring Data via USB Memory You can also use USB memory to make a data backup Refer to 1 1 Backing Up and Upgrading via USB Memory in Maintenance for details on how to use USB memory Individual configuration information v...

Page 36: ...start the robot the C T data in the storage area is copied to the work area Data in the work area is used for teaching and running programs The data in the work area is deleted when the power to the robot is turned OFF When receiving data from the robot the PC receives work area data If sending data from the PC to the robot the sent data is automatically written to the storage area via the work ar...

Page 37: ... T data is complete The C T Data was Received Successfully message appears on the screen Note that the C T data is not displayed on the screen Save the file by selecting Save as from the File pull down menu If you send a backup file to the robot using Send C T Data the robot will revert back to the received data Click Segment Receive to select and receive a specific program or customizing datum et...

Page 38: ...ut the method using the PC software For information regarding the method using USB memory please refer to 1 2 Write System Software in Maintenance 1 Turn ON the robot and startup JR C Points II Limited Edition on the PC 2 In the menu bar select Robot and then click Send Robot System Software from the pull down menu The dialog below is displayed 3 When upgrading select Version Update as the Transmi...

Page 39: ...C must be connected Refer to 2 6 Connecting to a PC Ethernet and make sure the robot and PC can interface If you are using JR C Points II software optional the robot system software can also be upgraded by selecting Send Robot System Software from the Robot pull down menu 38 ...

Page 40: ...ttings With clock settings after entering each value for the year month day time minute and second the information is registered to the robot by selecting Clock Setup If the information is registered correctly the screen reverts to the Administration Settings Mode screen The error history screen can be viewed by using one of these procedures Administration Æ Error History Teaching Mode Æ UTILITY Æ...

Page 41: ...for the offset from the tool tip is referred to as the tool center point TCP Tool Mass This Tool Mass refers to the total mass of the tool and of the object which the tool is holding Make sure this mass is equal to or lower than the registered mass TCP X TCP Y For 3 axes specifications TCP X and TCP Y are set with the teaching tool weight and the current tool weight offset the offset amount for th...

Page 42: ...er settable items for that point Program Æ Individual Program Settings Æ Tool Workpiece Æ Tool Data 7 2 4 Axis Specifications Tool Data The following settings are in Tool Data Tool Mass mass affecting the Y axis TCP X The X direction distance from the R axis center to the tool tip TCP Y The Y direction distance from the R axis center to the tool tip TCP Z The Z direction distance from the tool tip...

Page 43: ...JR3300 JR3400 90kg cm2 TCP Z After changing the tool etc if the tool tip height is different from the registered tool center point position enter the Z direction difference to TCP Z NOTE When adding a new program the values for the default all program common settings customizing data are entered as program data default values Additionally when using the additional function data Tool Data you can c...

Page 44: ...n the settings a position error may occur Teaching Mode MENU Individual Program Settings Workpiece Mass NOTE When the bottommost item shown is highlighted press the CURSOR key to display the other settable items for that point MENU All Program Common Data Workpiece Mass Customizing Mode Teaching Mode Customizing All Program Common Default Settings Workpiece Mass Program Æ Individual Program Settin...

Page 45: ...l Setting I O SYS Turn ON sysIn1 I O SYS and the run starts Fieldbus Turn ON fbIn1000 Fieldbus and the run starts For details regarding Fieldbus refer to External Control I O Fieldbus COM1 Send a run start command from COM1 and the run starts For command details refer to the operation manual Communication Control COM LAN User Definition When set to User Definition the robot cannot be started up fr...

Page 46: ... and the others to Invalid changing program numbers is only possible through the PC and you can no longer change program numbers from the teaching pendant or the selection keys operation switches on the front of the robot etc MODE Administration Administration Settings Mode Changing Program Number Robot Æ Administration Æ Administration Settings Æ General Setting 8 2 2 Program Number Reading Forma...

Page 47: ...start instruction is received the status of the I O signal program number 1 512 is loaded and the program number changes Load at Start Fieldbus When the start instruction is received the status of the program number register is loaded and the program number changes NOTE Program Number 1 64 signals are loaded under the default Program Number Switching Method settings If you wish to use the Program ...

Page 48: ...stop so it does not occur if the I O S signal comes ON when the robot is in standby Robot Status I O S Function Settings Action When the Signal from I O S goes ON Running Emergency Stop Makes an emergency stop Interlock Makes an emergency stop occurs Standby Emergency Stop Makes an emergency stop occurs Interlock Doesn t make an emergency stop MENU All Program Common Settings I O Settings I O S Fu...

Page 49: ...included in the Operation Manual CD can also be used to convert data NOTE It is possible to connect one PC to both a JR2000 JR2000N Series robot and a JR3000 Series robot at the same time You can also connect a PC to the JR2000 JR2000N Series robot receive the data disconnect the JR2000 JR2000N robot and then connect the JR3000 Series robot To convert data using one PC JR Points or JR C Points and...

Page 50: ... an rps extension For JR C Points the file is saved as an cps extension File Æ Save As 5 Exit JR Points or JR C Points and start up JR C Points II 6 In Ethernet Settings register the JR3000 Series robot to where you want to send data Robot Æ Ethernet Settings 7 From the Open dialog box change File Type to JR Points File rps for the JR2000 Series or change to JR C Points File cps for the JR2000N Se...

Page 51: ...Protect Mode converted as follows Point job numbers of items in No Limit and Public Protect Mode do not change For this reason these items can be run as they are Items in Protected and Private Protect Mode are converted with 400 added to their point job number to protect the defined content For this reason these items cannot be run as they are Please amend this data With JR C Points II TPIF Port 4...

Page 52: ...d or the contents of this manual 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 Janome Sewing Machine Co Ltd All rights reserved Japanese Ver 2014 10 170803104 as of 2014 10 www metermixdispense com 866 967 4660 ...

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