Janome JR2000N Series Operation Manual Download

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JANOME SCARA/GANTRY ROBOT

JS/JSR4400N/JSG Series

JANOME DESKTOP ROBOT

JR2000N Series

Operation Manual

Features II

(Variables/Commands/Functions)

Thank you for purchasing a Janome Robot.

Read this manual thoroughly in order to ensure proper use of this robot. Be
sure to read “For Your Safety” before you use the robot. The information will
help you protect yourself and others from possible dangers during operation.

After having read this manual, keep it in a handy place so that you or the

operator can refer to it whenever necessary.

This manual is written according to IEC 62079.

Summary of Contents for JR2000N Series

Page 1: ...d this manual thoroughly in order to ensure proper use of this robot Be sure to read For Your Safety before you use the robot The information will help you protect yourself and others from possible dangers during operation z After having read this manual keep it in a handy place so that you or the operator can refer to it whenever necessary z This manual is written according to IEC 62079 ...

Page 2: ...__________________________ 19 OutputVariables sysOut1 genOut1 handOut1 ________________________________ 20 Down Timer downTimer1 downTimer10 ________________________________________ 21 Point Job Start Height jobStartHight______________________________________________ 22 Pallet palletFlag 1 100 palletCount 1 100 ___________________________________ 23 Workpiece Adjustment workAdj_X workAdj_Y workAdj...

Page 3: ...ing for a Start Signal waitStart waitStartBZ _____________________________________ 54 Input from I O dataIn dataInBCD_________________________________________________ 56 PALLET CONTROL _____________________________________________________________ 57 Pallet Command loopPallet resPallet incPallet _____________________________________ 57 EXECUTION FLOW CONTROL ________________________________________...

Page 4: ...LED out7SLED_______________________ 84 COM INPUT OUTPUT ___________________________________________________________ 85 COM Input Output outCOM eoutCOM inCOM setWTCOM cmpCOM ecmpCOM clrCOM shiftCOM____________________________________________________________________ 85 PC Communication stopPC startPC______________________________________________ 89 VARIABLE COMMENT SYSTEM CONTROL ___________________...

Page 5: ...econd symbol after the first the second is treated as a character e g eoutCOM port2 G01 Output G01 If there is any character from 0 9 and A F enter to output e g eoutCOM port2 300 Output 300 Variable A variable is a container into which numeric and string values are placed You can use the built in variables which are built into the robot as a function and the user defined variables which can be fr...

Page 6: ...e num str Returns 1 if the left value is larger than the right value Returns 0 if the left value is smaller than or the same as the right value num str Returns 1 if the left value is smaller than the right value Returns 0 if the left value is larger than or the same as the right value num str Returns 1 if the left value is larger than or the same as the right value Returns 0 if the left value is s...

Page 7: ...he front of the JR2000N Series robot or on the operation box for the JSR4400N robot dataOut Output Data Output Bit Number Output Destination Output numeric data or a tag code assigned to a point to the I O dataOutBCD Output Value Output Bit Number Output Destination Output numeric data or a tag code assigned to a point to the I O in BCD binary coded decimal motorPowerON servoON Axis Turn on the de...

Page 8: ...ber go Point Number Pallet loop resPallet Pallet Routine Number Reset the pallet counter Pallet incPallet Pallet Routine Number Increase the pallet counter number 1 callBase Call a user defined point job from a point to which a point job number is set callJob Point Job Number Call a point job data subroutine specified by number callPoints Variable Name Identifier Perform a specified point string d...

Page 9: ... 10 lineMoveY 20 lineMoveZ 0 lineMoveR 0 lineMoveStopIf Terminate the movement of an Axis made by lineMove if the conditions are met endLineMove End of lineMoveStopIf condition statements initMec Axis Return the specified Axis to its initial position Perform mechanical initialization Available only for the JR2000N and JSR4400N Series Move checkPos Detect a position error Available only for the JR2...

Page 10: ...r value The symbols can be used rem Output Data One line comment crem Output Data Comment at the end of a command line setProgNum Program Number Change the program number z Do not carry out this command while the robot is running Use the command callProgram if you change the program to be run while the robot is running Variable Comment System Control setSeqNum Sequencer Number Change the sequencer...

Page 11: ...escription ld Boolean variable Input ON ldi Boolean variable Input OFF and Boolean variable Input serial ON ani Boolean variable Input serial OFF or Boolean variable Input parallel ON Calculate ori Boolean variable Input parallel OFF out Output Destination Coil drive set Output Destination Set the coil drive hold command reset Output Destination Reset the coil drive hold command pls Output Destina...

Page 12: ...able Keeping variable num nv 1 99 Numerical variable num nkv 1 99 Numerical variable Keeping variable str sv 1 99 String variable Free Variable str skv 1 99 String variable Keeping variable sysIn1 15 JS and JSG Series boo sysIn1 16 JR2000N and JR4400N Series I O SYS genIn1 18 JS and JSG Series boo genIn1 8 JR2000N and JR4400N Series I O 1 Input Variable boo handIn1 4 Available only for JS Series I...

Page 13: ...tine num palletCount 1 100 Pallet counter Corresponds to Pallet Routine Nos 1 100 Workpiece Adjustment num workAdj_X 1 100 workAdj_Y 1 100 workAdj_Z 1 100 workAdj_R 1 100 workAdj_Rotation 1 100 Adjustment value of each Axis in Workpiece Adjustment settings Corresponds to Work Adjustment Nos 1 100 Tool Data num tool_X 1 100 tool_Y 1 100 tool_Z 1 100 tool_R 1 100 TCP value of each Axis in Point Tool...

Page 14: ... num P_TagCode 1 last point number Tag code value of the specified point num prog_P_X 1 255 1 last point number X coordinate value of the specified point in the specified program num prog_P_Y 1 255 1 last point number Y coordinate value of the specified point in the specified program num prog_P_Z 1 255 1 last point number Z coordinate value of the specified point in the specified program num prog_...

Page 15: ... coordinate mm num currentArmR Current R coordinate deg num currentCmdArmX Current command X coordinate mm num currentCmdArmY Current command Y coordinate mm num currentCmdArmZ Current command Z coordinate mm num currentCmdArmR Current command R coordinate deg num numCOM COM port number Data byte count of COM receiving port num isConditionData n Display whether the specified condition data number ...

Page 16: ... a Return the top character code Other codes are ignored num len a Return the string length non multibyte num strPos a b Return the first part string position in a matching b str strMid a n m Return the strings n m counted from the top of the given string a str str x Convert a numeric value to a decimal digit string str strBin n m Convert a numeric value to a binary string m Number of binary strin...

Page 17: ...to a 1 byte signed integer 1 byte Signed Integer num val2SIBE a Convert the top 2 characters to a 2 byte signed integer using the Big Endian byte order 2 byte Signed Integer Big Endian num val2SILE a Convert the top 2 characters to a 2 byte signed integer using the Little Endian byte order 2 byte Signed Integer Little Endian num val4SIBE a Convert the top 4 characters to a 4 byte signed integer us...

Page 18: ...data compare command cmpCOM timeout Timeout 11 FisCOM3 COM3 receive data existence Exists 12 FltCOM3 Result of COM3 receive data compare command cmpCOM Constant Receive data 13 FeqCOM3 Result of COM3 receive data compare command cmpCOM Constant Receive data 14 FgtCOM3 Result of COM3 receive data compare command cmpCOM Constant Receive data 15 FtimeOutCOM3 COM3 receive data compare command cmpCOM t...

Page 19: ...ceive data 03 FeqCOM1 Result of COM1 receive data compare command cmpCOM Constant Receive data 04 FgtCOM1 Result of COM1 receive data compare command cmpCOM Constant Receive data 05 FtimeOutCOM1 COM1 receive data compare command cmpCOM timeout Timeout 06 FisCOM2 COM2 receive data existence Exists 07 FltCOM2 Result of COM2 receive data compare command cmpCOM Constant Receive data 08 FeqCOM2 Result ...

Page 20: ...N 69 FmdSW2 Select key switch 2 ON 71 Fsensor1 Initial X position sensor ON 72 Fsensor2 Initial Y position sensor ON 73 Fsensor3 Initial Z position sensor ON 74 Fsensor4 Initial R position sensor ON 76 Fdrvoz1 X driver 0 phase Close 77 Fdrvoz2 Y driver 0 phase Close 78 Fdrvoz3 Z driver 0 phase Close 79 Fdrvoz4 R driver 0 phase Close 91 FenableSW Enable switch ON Pressed 92 FspmodeSW Special mode s...

Page 21: ...Error Result of the position error detect command Position error 36 FdataInBCDError State of dataInBCD command error Error 63 FemgSW EMG direct input ON Pressed 64 Fios IOS direct input Circuit open Disconnected 66 FmponSW Power ON switch ON Pressed 68 FmdSW1 Select key switch 1 ON 69 FmdSW2 Select key switch 2 ON 91 FenableSW Enable switch ON Pressed 92 FspmodeSW Special mode switch ON 93 FspareS...

Page 22: ...ping variable Variables which hold their values even if the robot is turned off are collectively referred to as keeping variables in the operation manuals mv 1 99 and mkv 1 99 Boolean variable A Boolean variable is a variable that can hold a value of 1 bit 0 or 1 It can be used as a condition operation expression ld ldi or assignment expression let parameter z Boolean type free variables mv 1 99 a...

Page 23: ... only Input Variable handIn1 handIn4 I O H Boolean variable for reference only Some of the sysIn1 sysIn15 and 16 I O SYS pins have pre assigned functions e g sysIn1 Start When this signal is turned on the robot starts operation If you wish to use the sysIn1 sysIn15 and 16 I O SYS pins for functions other than the pre assigned ones switch the function to Free in the IO SYS Function Assignment setti...

Page 24: ...t4 I O H Boolean variable Some of the sysOut1 sysOut14 15 and 16 I O SYS pins have pre assigned functions e g sysIn1 Ready for Start When this signal is turned on the robot can start operation If you wish to use the sysOut1 sysOut14 15 and 16 I O SYS pins for functions other than the pre assigned ones switch the function to Free in IO SYS Function Assignment settings Run Mode Parameter menu z The ...

Page 25: ...er Description Special Variable downTimer1 downTimer 10 The assigned value is decreased automatically by msec For example create the following point job data and set it to a point as Job while CP Moving The hexadecimal CR code is output to COM2 every 0 5 seconds while it moves in the CP drive if ld downTimer1 0 then eoutCOM port2 0D downTimer1 500 If downTimer1 0 Then Output a hexadecimal code CR ...

Page 26: ... Job because the robot Axis or Arm has already reached the point job start position Also since this variable acts only on the set point the point job start position of the next point does not change e g Category Identifier Description Special Variable jobStartHight The point job is started from a position that is higher than the set Z coordinate by the assigned value Deactivated during the CP driv...

Page 27: ... to Pallet 1 100 Pallet palletCount 1 100 Pallet counter Corresponds to Pallet 1 100 z palletFlag 1 100 does not become 1 true even if a value which fills the counter is assigned to palletCount 1 100 For example you can skip a designated pallet during a pallet job The robot picks up a workpiece at P1 places it on a pallet set at P2 and moves to the next point P3 when the pallet becomes full Howeve...

Page 28: ... to P2 if ld palletCount 3 5 or palletCount 3 11 else reset handOut1 endIf loopPallet 3 1 If palletCount 3 is other than 5 P2 5 and 11 P2 11 Place release a workpiece Add 1 to the counter of Pallet 3 If the counter reaches maximum go to the next command In this example the point job is over because there are no more commands If not shift to Point 01 P1 ...

Page 29: ...ds to Workpiece Adjustment 1 100 Workpiece Adjustment workAdj_Rotation 1 100 Workpiece adjustment amount by the rotating angle Corresponds to Workpiece Adjustment 1 100 For example you can perform a line dispensing between P2 P3 At P1 the workpiece adjustment amount workpiece offset value is received from the sensor connected to COM In this example the Workpiece Adjustment is 6 and the tool unit i...

Page 30: ... 26 Point job data set in P2 Workpiece Adjustment is set to this point set handOut1 Start dispensing Point job data set in P3 reset handOut1 Stop dispensing z The Workpiece Adjustment set to a CP Start Point point is activated until the tool unit reaches a CP End Point point ...

Page 31: ...ta set in the Job before Moving includes these variables the P2 coordinates are retained even at P1 These variables hold the original coordinate values of a point The values do not change even when the additional function data Workpiece Adjustment and the variable jobStartHight are used Category Identifier Description point_X X coordinate value of the running point point_Y Y coordinate value of th...

Page 32: ...hen additional function data Workpiece Adjustment and the variable jobStartHight are used Category Identifier Description P_X 1 Last point number X coordinate value of given point in current program P_Y 1 Last point number Y coordinate value of given point in current program P_Z 1 Last point number Z coordinate value of given point in current program P_R 1 Last point number R coordinate value of g...

Page 33: ... the variable jobStartHight are used Category Identifier Description prog_P_X 1 255 1 Last point number X coordinate value of the designated point in the designated program prog_P_Y 1 255 1 Last point number Y coordinate value of the designated point in the designated program prog_P_Z 1 255 1 Last point number Z coordinate value of the designated point in the designated program prog_P_R 1 255 1 La...

Page 34: ...entArmZ Current Z coordinate mm num currentArmR Current R coordinate deg num currentCmdArmX Current command X coordinate mm num currentCmdArmY Current command Y coordinate mm num currentCmdArmZ Current command Z coordinate mm num currentCmdArmR Current command R coordinate deg num numCOM COM port number Data byte count of COM receiving port num isConditionData n Display whether the specified condi...

Page 35: ...urrentArmR This variable holds the current R Axis rotation angle R Axis coordinate Absolute coordinates in degrees currentCmdArmX currentCmdArmY currentCmdArmZ This variable holds the current designated Arm position coordinates Absolute coordinates in millimeters currentCmdArmR This variable holds the current designated R Axis rotation angle R Axis coordinate Absolute coordinates in degrees numCOM...

Page 36: ...trPlusLLCD string a string b This variable adjusts the strings on the teaching pendant LCD left priority Items on the left are displayed in full if there is an overlap getSystemPTPmoveTime This variable holds the time required for the current PTP drive in seconds Valid only for Job while Moving getSystemPTPrestTime This variable holds the time left before the current PTP drive ends reaching the de...

Page 37: ...ersion from radian to degree x 180 π num sqrt x Square root num sin x Sine num cos x Cosine num tan x Tangent num atan x Arctangent num atan2 x y Arctangent num int x Maximum integer that does not exceed x e g int 1 3 Æ 1 int 1 3 Æ 2 num ip x Integer part of x sgn x int abs x If x is a negative number sgn x becomes 1 If x is a positive number sgn x becomes 1 e g ip 1 3 Æ 1 ip 1 3 Æ 1 num fp x Deci...

Page 38: ...ing using the Big Endian byte order 2 byte Signed Integer Big Endian str str2SILE x Round a numeric value to a 2 byte signed integer to convert it to a 2 byte string using the Little Endian byte order 2 byte Signed Integer Little Endian str str4SIBE x Round a numeric value to a 4 byte signed integer to convert it to a 4 byte string using the Big Endian byte order 4 byte Signed Integer Big Endian s...

Page 39: ... signed integer using the Big Endian byte order 4 byte Signed Integer Big Endian num val4SILE a Convert the top 4 characters to a 4 byte signed integer using the Little Endian byte order 4 byte Signed Integer Little Endian num val4FBE a Convert the top 4 characters to a float using the Big Endian byte order 4 byte Float Big Endian num val4FLE a Convert the top 4 characters to a float using the Lit...

Page 40: ...ted output destination ON OFF Output Control invPulse Output Destination Pulse Width Output OFF pulse inverting pulse of a specified width to a specified output destination For example connect the hand tool to the robot according to the following settings The hand tool opens Å Close Air 1 and Open Air 2 The hand tool closes Å Open Air 1 and close Air 2 Air 1 opens Å Turn on Solenoid Valve 1 Air 2 ...

Page 41: ...OFF Output sysOut16 ON Æ Open the hand tool set sysOut15 reset sysOut16 Output sysOut15 ON Output sysOut16 OFF Æ Close the hand tool z The set command continues to output an ON signal unless the command reset comes The pulse output commands to open and close the hand tool are as follows invPulse sysOut15 100 sysOut15 Å 0 1sec Æ ON OFF pulse sysOut16 100 sysOut16 Å 0 1sec Æ ON OFF Open the hand too...

Page 42: ...kinds of point job data have different results pulse genOut1 100 pulse genOut2 200 set genOut3 set genOut1 delay 100 reset genOut1 set genOut2 delay 200 reset genOut2 set genOut3 genOut1 genOut1 genOut2 genOut2 genOut3 genOut3 delay100 means Stand by for 0 1 second at that point z You can set the pulse width for the pulse and invPulse commands using variables or expressions 0 1sec 0 1sec 0 2sec ...

Page 43: ...elay Time ON output after specified delay time ON OFF Output Control delayReset Output Destination Delay Time OFF output after specified delay time The delaySet and delayReset commands move on to the next command before completing output If signals are output by set or reset commands after waitCondTime the next command execution timing is different as follows e g delaySet e g waitCondTime set 1 de...

Page 44: ...mand Parameter Job set Output Destination BZ Sound a buzzer reset Output Destination BZ Stop a buzzer ON OFF Output Control onoffBZ ON Time OFF Time Sound and stop a buzzer If the set or onoffBZ commands are executed the buzzer continues to sound until the reset command is executed z You can set ON Time and OFF Time for the onoffBZ command using variables or expressions ...

Page 45: ...the front body JR2000N or the operation box JSR4400N using a point job command Command Category Command Parameter Job set Output Destination GLED Turn on the LED Green reset Output Destination GLED Turn off the LED Green ON OFF Output Control onoffGLED ON Time OFF Time Blink the LED Green If the set or onoffGLED commands are executed the green LED is on or blinking until the reset command is execu...

Page 46: ...on the front body JR2000N or the operation box JSR4400N using a point job command Command Category Command Parameter Job set Output Destination RLED Turn on the LED Red reset Output Destination RLED Turn off the LED Red ON OFF Output Control onoffRLED ON Time OFF Time Blink the LED Red If the set or onoffRLED commands are executed the red LED is on or blinking until the reset command is executed z...

Page 47: ...e output value value to be output the output width the number of I O pins to be used for output also referred to as Output Bit No and the output destination the smallest number between I Os to be used for output for example if you use genOut8 genOut10 the output destination is 8 for the dataOut and dataOutBCD commands z The dataOut and dataOutBCD commands require serial I O pins for output Example...

Page 48: ...turn on the power to the robot s motor or turn on and off the designated Axis servomotor by using a point job command If an Axis servomotor is off the Axis cannot be controlled by the robot When the X Y and R Axes servomoters are off they can be moved manually z You cannot turn off the motor power using commands Command Category Command Parameter Job motorPowerON Turn on the power to the robot s m...

Page 49: ...then else and endIf commands Example 1 If genIn2 is on raise the Z Axis by 10mm and output a pulse to genOut1 If genIn2 is not on lower the Z Axis by 10mm and output a pulse to genOut2 The Example 1 above will be performed using the following point job commands if ld genIn2 then upZ 10 20 pulse genOut1 200 else downZ 10 20 pulse genOut2 200 endIf If the following condition is true go to then If fa...

Page 50: ...p to Label 1 when start instructions come End of If Branch z It is not necessary for both the then and else commands to exist at the same time However the if command without the endIf command is recognized as an error z The waitCondTime timeUp endWait and if endIf command lines will be indented as follows waitCondTime 200 ld genIn2 timeUp set genOut2 if ld genIn1 then downZ 20 20 waitCondTime 200 ...

Page 51: ...conditions are met e g A workpiece exists Æ Sensor genIn2 ON A workpiece does not exist Æ Sensor genIn2 OFF waitCond ld genIn2 endWait Stand by at the point until the following conditions are met genIn2 ON Condition End of the condition line waitCondtime timeUp endWait Wait for the specified period of time until conditions are met e g If the workpieces do not come within 30 seconds it is recognize...

Page 52: ...wtime ld genIn2 timeUp set genOut2 waitStartBZ reset genOut2 endWait Declare a local variable wtime If genIn3 ON then Assign 3000 to wtime If not Assign 1000 to wtime Wait for 3 or 1sec until the following condition is met genIn2 ON Condition If the condition is not met within 3 or 1sec Output ON signal to genOut2 Stand by in place until a start signal comes When a start signal comes output an OFF...

Page 53: ...In I O SYS output sysOut I O 1 input genIn I O 1 output genOut I O H input handIn I O H output handOut system flag sysFlag internal relay mv keep relay mkv and pallet flag can be given as command parameters Comparison operation expressions can also be used Variables and functions can also be used in comparison operation expressions as well as the above parameters Comparison operation expression Me...

Page 54: ...tion 1 and count value is 10 or greater Condition 2 End of condition line z count is a variable ani Series OFF input waitCond ldi genIn1 ani count 10 endWait Wait in place until the following conditions are met genIn1 is OFF Condition 1 and count value is 10 or less Condition 2 End of condition line or Parallel ON input waitCond ld genIn1 or genIn2 endWait Wait in place until the following conditi...

Page 55: ...lso OFF Condition 2 anb Both Conditions 1 and 2 are true endWait End of condition line orb Block parallel connection waitCond Waits in place until the following conditions are met ld count 10 or flag Count is 10 or greater or flag is ON Condition 1 ldi genIn1 ani genIn2 genIn2 is OFF and genIn2 is also OFF Condition 2 orb Either Condition 1 or 2 is true endWait End of condition line z When there i...

Page 56: ...y Time Stand by in place for the specified delay time z The delay command is deactivated at points where the base point type CP Passing Point is set delay Delay for the specified period of time Example set genOut1 delay 100 reset genOut1 set genOut2 delay 200 reset genOut2 Output ON signal to genOut1 Delay for 0 1sec Output OFF signal to genOut1 Output ON signal to genOut2 Delay for 0 2sec Output ...

Page 57: ...pressions as well as numeric values Example declare num wtime if ld genIn1 then wtime 100 else wtime 200 endIf set genOut1 delay wtime reset genOut1 Declare the local variable wtime If genIn1 ON then Assign 100 to wtime If not Assign 200 to wtime Output ON signal to genOut1 Delay for 0 1 or 0 2sec Output OFF signal to genOut1 ...

Page 58: ...mes Output an OFF signal to genOut1 if a start signal comes waitStartBZ Wait for start with buzzer Example If genIn1 does not come on within 2 seconds it is recognized as an error genOut2 connected to an external alarm or alarm lamp comes on and the robot stands by for a start signal while sounding a buzzer When the operator fixes the problem and sends a start signal genOut2 goes off and the opera...

Page 59: ... waitCondTime 200 ld genIn4 timeUp waitStartBZ endWait endIf endWait Be sure not to use more than 9 indents If the point job data includes more than 9 indents it will be recognized as an error and the error message Error on Point Job will be displayed When timeUp or endWait comes before waitCondTime or if then else or endIf comes before if it will also be recognized as an error and the error messa...

Page 60: ...th the smallest number between I Os to be used for input If genIn3 genIn10 are used the input source is 3 z The dataIn and dataInBCD commands require the serial I O pins for input Example declare numeric code dataIn code genIn3 8 Declare a local variable code Read out data genIn3 genIn10 I O 1 as a numeric value and assign it to code declare numeric code dataInBCD code genIn3 8 Declare the local v...

Page 61: ...ss you set the point job data to update the counter If you select Auto Increment you do not need to set a point job command to control the pallet operation The tool unit will automatically move to the next point and update the pallet counter However on the Auto Increment pallet the tool unit can only move in serial order P2 1 P2 2 P2 3 as shown below Example Auto Increment Pallet To P3 P1 Pallet R...

Page 62: ...he following example of point job data the tool unit picks up the workpiece from P1 set genOut1 and places it at P2 reset genOut1 on the Increment by Point Job pallet shown on the previous page Point Job Data to be set to P1 set genOut1 Picks up the workpiece Point Job Data to be set to P2 reset genOut1 loopPallet 10 1 Releases places the workpiece Add 1 to the counter of Pallet No 10 If the count...

Page 63: ...select the additional function data PTP Condition If you use the incPallet command another job e g pulse output can be performed each time the tool unit shifts to P1 reset genOut1 incPallet 10 if ld palletFlag 10 else pulse genOut5 200 goPoint PTP0 1 endif Release Place the workpiece Add 1 to the counter of Pallet No 10 if The counter of Pallet 10 does not reach maximum Output a pulse and Shift to...

Page 64: ... Start Point and the newly added job will be performed instead e g At Points P1 and P2 where the user defined point type shown to the right is set the following point job data will be performed at each point P1 Job before Moving Point job data 5 Job while Moving Point job data 6 Point Job Point job data 7 P2 Job before Moving Job before Moving set under the user defined point type Job while Moving...

Page 65: ...Job Execute Flow Control callBase Call and execute the job command string set under the user defined point type at the point where the user defined point type is set z The callBase command is deactivated at points where the base point type CP Passing Point is set The job command string set under the user defined point type can be called as a subroutine by the callBase command Therefore if the call...

Page 66: ...lJob Point Job Number Call a subroutine of the point job data for the given number z The callJob command is deactivated at points where the base point type CP Passing Point is set set genOut1 downZ 20 20 Label 1 waitStartBZ if ld genIn1 then reset genOut1 else jump L1 endIf waitCondTime 200 ld genIn1 timeUp set genOut1 downZ 20 20 Label 1 waitStartBZ if ld genIn1 then reset genOut1 else jump L1 en...

Page 67: ...Execution Flow callJob callJob Nest level 1 Nest level 2 Point job data numbers can also be given using expressions Example declare num ejob waitCondTime 200 ld genIn1 timeUp if ld genIn2 then ejob 9 else ejob 10 endIf callJob ejob endWait Local variable ejob declaration Wait for 0 2 seconds until the following condition is met genIn1 ON Condition If the condition is not met within 0 2 seconds if ...

Page 68: ...ommand Category Command Parameter Job Execute Flow Control returnJob End a point job The following example shows point job data using the returnJob command if Condition 1 then Process 1 if Condition 2 then returnJob else Process 2 endIf endIf Process 3 Note Once registered if the returnJob command is removed from the point job data Process 3 will be performed even if Condition 2 is ON YES Conditio...

Page 69: ...can be called by the callProg command After the called program No 17 in this example is complete the next command line of the callProg command endWait in this example in the calling point job data is performed z The called program hereinafter referred to as subprogram in this manual will be performed as a 1 Cycle Playback program even if Continuous Playback is selected as Cycle Mode settings in th...

Page 70: ... menu There are the following three position data types Absolute The position data value is equal to the robot s absolute coordinates Default Relative The position data is equal to the distance from the program start coordinates to the current position coordinates If the start coordinate is 0 0 it is equal to the Absolute setting Moving Amount The position data value is equal to the distance to th...

Page 71: ...lling point At the current point calling point the tool unit performs the Job on Start of Cycle set to the work home position of the subprogram and then shifts to SP1 Subprogram Point 1 z When a program called by the callProg command contains a callProg command an error No 044 Program for callProg doesn t exist is returned if the nest level exceeds Level 10 SP1 SP2 SP3 Calling Point P7 P6 P8 Calli...

Page 72: ...turn to the work home If Relative or Moving Amount is set in a program the robot Axis or Arm will also not return to the work home The robot Axis or Arm returns to the work home only when Absolute is set in the program and is performed independently not by a CallProgram command How to Register a Relative Program When registering any point in the JOG mode the position data setting must be set to Ab...

Page 73: ...g as a subroutine z The callPoints command is deactivated at points where the base point type CP Passing Point is set For example set the point job data shown below to P1 if ld genIn1 then callPoints cleaning downZ 10 10 out genOut1 A point string cleaning can be called by the callPoints command If genIn1 is ON go to the point string cleaning and execute point job data and additional function data...

Page 74: ...ype CP Passing Point is set The following example shows point job data using the endProg command waitCondTime 500 ld genIn2 timeUp movetoZ 0 10 endProg endWait By the endProg command a program is terminated at the current point and the robot Arm or Axis will not return to the work home position You cannot restart the program from that position Start the program from the first point z If you wish t...

Page 75: ...Category Command Parameter Job Execute Flow Control returnFunc Return Value Expression Assign the specified expression as a return value and end the function z The returnFunc command cannot be used in point job data Point Job Data Function Identifier radians outLCD 7 4 radians x The function can be called returnFunc 0 017453 x The return value of the function radians for an argument x is displayed...

Page 76: ...ion during the CP drive z The goPoint goRPoint and goCRPoint commands are deactivated at points where the base point type CP Passing Point is set z The point number and relative point number for the goPoint and goRPoint can be given using variables or expressions If you wish to set the destination for the goCRPoint command using variables or expressions the value must be either 0 or 1 The followin...

Page 77: ...rt operation from the same point Jumps to a relatively specified point number goCRPoint PTP3 1 This command is used to jump to the specified point during the CP drive After a cycle of operation from CP Start Point to CP End Point the tool unit will return to the point where the current CP drive is started CP Start Point if the destination number is set to 0 If 1 is set the tool unit will move to t...

Page 78: ...nIn2 is not ON go to the next job Label 1 if ld genIn2 then waitStartBZ jump L1 endIf Destination mark If the following condition is true go to then If not go to the next command after endIf genIn2 ON If the above condition is true execute the following commands Sound a buzzer and stand by in place until a start signal comes Jump to Label 1 when a start signal comes End of if Branch z The Label co...

Page 79: ... for exitFor next The for command specifies the number of repetitions declare num ival for ival 1 to 8 step 1 Contents to be repeated next Declare a local variable ival The initial value of the variable ival is 1 Add 1 to the variable for every loop and repeat the commands between for and next until the ival becomes 8 declare num ival for ival 1 to 8 step 1 Contents to be repeated if ld genIn1 the...

Page 80: ...es the same value 5 or 10 as the variable loop do exitDo loop The do exitDo loop command lines are repeated until the exitDo command exists do Contents to be repeated loop Without a condition to exit from the do loop the command goes into an infinite loop do Contents to be repeated if ld genIn1 then exitDo endIf Contents to be repeated loop z The contents to be repeated can be put both before and ...

Page 81: ...nce Move movetoZ Distance Speed Raise or lower the Z Axis to the specified Z coordinates absolute coordinates z The Move commands are deactivated at points where the base point type CP Passing Point is set Example In the PTP drive stop the hand tool unit 10mm above the workpiece check whether or not the workpiece is in place using a sensor and then lower the tool slowly to hold the workpiece Hand ...

Page 82: ...int from the Z coordinates of P1 P_Z 1 Variable which has the Z coordinate value of P1 in the current program point_Z Variable which has the Z coordinate value of the current point z If you assign a value to the variable jobStartHight to point job data as Job before Moving or Job while Moving using a let command the robot starts the point job from a position higher than the set Z coordinate determ...

Page 83: ...e by the entered distance in CP drive z The Move commands are deactivated at points where the base point type CP Passing Point is set To set each Axis distance enter the distance from the current point to the destination point you wish to shift to Enter 0 as the distance if you wish to move the Axis in that direction The distance can also be entered using a variable or an expression The point job ...

Page 84: ... the specified distance in that direction 1 The robot Axis has completed moving in that direction with conditions If the Robot Axis Exceeds the Move Area Limit defined by the lineMove Command If the Arm exceeds the Move Area Limit by the lineMove command it will stop at the position where it reaches the move area limit and then go to the next command By referring the system flag sysFlag33 you can ...

Page 85: ... the robot is turned on You can initialize only the desired Axis using a point job command With the initMec command the robot Axes are able to return to the absolute coordinates x 0 y 0 z 0 r 0 even if a position error has occurred Command Category Command Parameter Job Move initMec Axis Initialize the specified Axis z The Move commands are deactivated at points where the base point type CP Passin...

Page 86: ...osition coordinates After a position error has been detected the robot Axis goes to the next point Command Category Command Parameter Job Move checkPos Detect a position error z The Move commands are deactivated at points where the base point type CP Passing Point is set Refer to the system flag sysFlag35 for the result of the position error check Normal 0 Position Error 1 Example checkPos if ld s...

Page 87: ...isplay Line Display Column Display Data Display the evaluation of the entered string expression at the specified position on the LCD display z Rows or columns can be specified using variables or expressions For the eoutLCD command the displayed strings can be specified using string expressions outLCD 7 4 PULSE Display the string PULSE on the teaching pendant LCD eoutLCD 7 4 sv 24 sv 25 Display the...

Page 88: ... the out7SLED command to the program number previously displayed LCD Control 7Seg LED out7SLED Output Type Output Value Output the specified number to 7 segment LED Select from the following four output types Output Type Description Num Display the specified number on the 7 segment LED Er Display the code Er and the specified number alternately on the 7 segment LED St Display the code St and the s...

Page 89: ...re the received data on COM with a string expression The result is entered into the system flag sysFlag1 20 clrCOM Input Output Clear the COM port receive buffer COM Input Output shiftCOM Input Output Shift Number Shift the data received on COM Delete data from the top by Shift Number COM Output outCOM eoutCOM Up to a 255 character strings can be output from COM Select outCOM or eoutCOM and then s...

Page 90: ...WTCOM command is not set the robot stands by for 0 1sec z If point job data including any COM input command is set at a CP Passing Point the robot stands by for 0sec to receive data COM Receive Data Comparison cmpCOM ecmpCOM The COM receive buffer a place where received data is stored and a specified character string are compared one by one starting from the top character The comparison result is ...

Page 91: ...acter Xth Character Wait Time Timeout period X X 1 X Specified number of characters Turn sysFlag 3 on Turn sysFlag 5 on Turn sysFlag 2 on Turn sysFlag 4 on Go to the next command Received Timeout X 1 If point job data including the cmpCOM or ecmpCOM command is set at a CP Passing Point the robot stands by for 0sec to receive data ...

Page 92: ...is stored Each COM port has an 8 kbyte receive buffer Newly received data will not overwrite the existing data but will be written after the existing data A receive buffer will be cleared by turning off the power or executing the clrCOM command Shifting COM Receive Data shiftCOM A specified data byte in the receive buffer is deleted e g 2 byte Shift Receive Buffer A B C D E F G H C D E F G H z You...

Page 93: ...the robot using point job commands instead of communicating with a PC for C T data transmission it is necessary to stop the PC communication transaction operated by the system If the stopPC command is executed PC communication will not be established unless the power is turned off or the startPC command is executed z The stopPC command disables the C T data transmission To connect control devices ...

Page 94: ...on of string expression to the left hand operand When this command is input only an expression is displayed Command Category Command Parameter Job declare Variable Type Variable Name Local variable declaration Variable Comment System Control let Expression Assign right hand operand to the left hand operand e g declare command declare numeric abc declare string def Numeric variable abc declaration ...

Page 95: ...callJob 24 if ld count 10 then exitDo endIf loop Numeric local variable count declaration Set the initial value 0 to the variable count Repeat the commands between do and loop Add 1 to the variable count Execute point job data 24 If the value of the variable count is larger than 10 jump to the next command of the loop command Return to the do command e g Point Job Data 24 declare count count 0 Lab...

Page 96: ... e g if ld genIn1 rem genIn1 Obstacle sensor then waitStartBZ If genIn1 is true genIn1 Obstacle sensor Comment Sound a buzzer and stand by until a start signal comes e g if ld genIn1 crem genIn1 Obstacle sensor then waitStartBZ If genIn1 is true genIn1 Obstacle sensor Comment Sound a buzzer and stand by until a start signal comes z If you are using the teaching pendant an end of line comment made ...

Page 97: ...m number will automatically change to Program 2 after running Program 1 Accordingly you can change the program numbers from 2 to 3 and from 3 to 1 If you set a setProgNum command to the point job data performed when the robot is standing by for a start signal you can change the program number according to inputs from COM For example if you connect the barcode reader to COM you can change the progr...

Page 98: ...2 command to Job on Start of Cycle Job and Sequencer on Run Mode menu and a setSeqNum01 command to Job on End of Cycle Job and Sequencer on Run Mode menu the sequencer data No 2 will be executed during operation and the sequencer data No 1 will be executed during standby If you change the sequencer number while running a program the running sequencer data will not be changed immediately After the ...

Page 99: ...ecifications of the robot or the contents of this manual may be modified without prior notice to improve its 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 2009 JANOME Sewing Machine Co Ltd All rights reserved 8 January 2009 970803108 as of 2007 09 ...

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