Janome JR3000 Series User manual

JANOME DESKTOP ROBOT
JR3000 Series
Thank you for purchasing this Janome Robot.

Before using your robot, please 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.

After having read this manual, store in a safe place that can be
easily accessed at any time by the operator.

This manual is written according to IEC 62079.
Operation Manual
Dispensing Specifications

Dispensing Specifications
Desktop Robot JR3000
PREFACE
The Janome Desktop Robot JR3000 Series are new low-cost, high-performance robots. With these
robots we succeeded in reducing the price while maintaining functionality. The combined use of
stepping motors and specialized micro step driving circuits saves both energy and installation space.
There are several manuals pertaining to these robots.
This manual describes dispensing specifications for the JR3000 Series. Other than this Dispensing
Specifications operation manual, there are also operation manuals with common sections relevant to
all robots in this series. Refer also to these manuals when operating this robot.
JR3000 Series
For Your Safety
This is important safety information. Make sure you read this before using the
robot.
Setup
Explains how to set up the robot.
■Make sure you read this manual ■
NOTE: This manual is designed for people who have received safety and
installation training regarding the robot.
Maintenance
Explains maintenance procedures for the robot.
■Make sure you read this manual ■
NOTE: This manual is designed for people who have received safety and
maintenance training regarding the robot.
Basic Instructions
Provides part names, data configurations, and the basic knowledge
necessary to operate the robot.
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 Run Mode parameters and PLC programs.
Functions IV
Explains Customizing Functions.
External Control I
(IO/Fieldbus)
Explains IO and Fieldbus.
Please refer to this manual if you are using Fieldbus.
Communication
Control (COM/LAN)
Explains COM 1 – 3 and LAN communication control.
Camera & Sensor
Functions
Explains the functions of the attachable camera and Z position sensor.
Specifications
Outlines general specifications such as the robot’s operating range, mass, etc.
Dispensing
Specifications
This operation manual
Note: The content of this manual may differ from the robot in your possession due to updates to the
product specifications.
1

Dispensing Specifications
Desktop Robot JR3000
To make full use of the machine’s functions and capabilities, make sure that
you use the robot according to the correct handling/operation procedures
that are written in the manuals listed on the previous page. Do not handle or
operate the robot in ways not covered in these manuals.
If you turn OFF the power after making changes to robot’s settings or data
without saving, those changes are lost and the robot will revert to its original
settings. Make sure that you save any changes to data and/or settings.
Attention
Note: The operation methods described in this manual are indicated as follows:
Operation via the teaching pendant
Operation via PC (JR C-Points II)
TP
PC
Attention
Make sure that the machine is grounded and do not use the
machine if it is not grounded.
Using the machine without sufficient grounding can cause electric
shock, fire, accidental operation and machine 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 injury.
2

Dispensing Specifications
Desktop Robot JR3000
CONTENTS
PREFACE................................................................................................................................................1
CONTENTS.............................................................................................................................................3
FOR YOUR SAFETY..............................................................................................................................5
1. INSTALLATION.................................................................................................................................10
1.1 How to Mount the Dispenser (Example: 3-Axis Model) ..............................................................10
2. TEACHING DATA...............................................................................................................................11
2.1 Point Types...................................................................................................................................11
2.2 Dispense Conditions....................................................................................................................16
2.2.1 Individual Program Settings..................................................................................................18
2.2.2 Condition Number.................................................................................................................18
2.3 Dispenser.....................................................................................................................................19
3. TOOL DATA.......................................................................................................................................23
3.1 3Axes..........................................................................................................................................23
3.2 4-Axes..........................................................................................................................................24
3.2.1 TCPAutomaticAdjustment Functions (4Axis Specifications Only) .....................................25
3.2.2 TCPAutomaticAdjustment Settings.....................................................................................26
3.2.3 TCPAutomaticAdjustment Execution..................................................................................27
3.2.4 TCPAutomaticAdjustment Standard Value Settings...........................................................30
3.2.5 Tool Data...............................................................................................................................31
3.2.6 Camera/Z Sensor Commands..............................................................................................31
3.2.7 ResetAdministration Settings...............................................................................................31
4. IO FUNCTIONS ................................................................................................................................32
4.1 IO-SYS FunctionAssignments....................................................................................................32
4.1.1 Input ......................................................................................................................................33
4.1.2 Output ...................................................................................................................................36
4.2 IO-1 FunctionAssignment...........................................................................................................38
4.3 IO Polarity....................................................................................................................................39
4.4 Other............................................................................................................................................39
5. TIMING CHARTS..............................................................................................................................40
5.1 No Response Operations (Steady Mode, Line Dispensing, Point Dispensing)..........................40
5.2 Busy Signal Operations (Timer Mode, Point Dispense)..............................................................41
5.3 Finish Signal Operations (Timer Mode, Point Dispense)............................................................42
6. POINT DISPENSING........................................................................................................................43
7. LINE DISPENSING...........................................................................................................................44
7.1 How to Draw a Line in Line Dispensing.......................................................................................44
7.2 How to Draw an Arc in Line Dispensing......................................................................................45
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Dispensing Specifications
Desktop Robot JR3000
8. DISPENSE FILLING .........................................................................................................................47
8.1 Rectangle Filling..........................................................................................................................47
8.2 Circle Filling .................................................................................................................................50
9. HOW TO CONNECTTHE DISPENSER..........................................................................................53
10. DISPENSER TYPE.........................................................................................................................57
11. DISPENSER MODE........................................................................................................................59
12. FUNCTIONSAT THE START/END OF LINE DISPENSING .........................................................61
12.1 Prevent Fragmented Dispensing at the Start of Line Dispensing (Wait Time at Start).............61
12.2 Prevent Fragmented Dispensing at the End of Line Dispensing (Wait Time at Stop) ..............64
12.3 Prevent Liquid Stringing at the End of Dispensing....................................................................67
13. WORKADJUSTMENTS FOR DISPENSING SPECIFICATIONS .................................................71
14. PURGING THE DISPENSINGAGENT..........................................................................................73
14.1 Purge Switch..............................................................................................................................74
14.2 Purge by Ext. Signal (#sysIn14)................................................................................................75
14.3Automatic Purge ........................................................................................................................76
15. USING NEEDLEADJUSTER 2 (OPTIONAL) (3AXIS SPECIFICATIONS ONLY) .......................77
15.1 NeedleAdjuster 2 Overview......................................................................................................78
15.2 Teaching and Making Standard Registration of Measuring Points ...........................................79
15.2.1 New Program......................................................................................................................79
15.2.2 Point Teaching.....................................................................................................................79
15.2.3 Standard Registration.........................................................................................................80
15.2.4 Execution ............................................................................................................................81
16. OPERATION FLOWCHART...........................................................................................................83
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Dispensing Specifications
Desktop Robot JR3000
FOR YOUR SAFETY
The safety notes outlined below are provided in order to ensure safe and correct usage of the product
in addition to preventing injury to the operator, other people and damage to property as well.
･････ Be sure to follow the safety guidelines detailed here ･････
Symbols are also listed alongside the safety note explanations. Please refer to the list below for an
explanation of these symbols.
Symbols that indicate the level of danger and/or damage.
The level of danger or damage that could occur as a result of ignoring these 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 must be taken
Take Caution (General Precaution)
Indicates a forbidden action
Never do this (General Precaution)
Do not disassemble, modify or repair.
Do not touch (Contact Prohibition)
Indicates a required action
Be sure to follow instructions (General Requirement)
Be sure to unplug the power supply cord
Make sure the machine is grounded
Warning
Danger
Caution
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Dispensing Specifications
Desktop Robot JR3000
FOR YOUR SAFETY
Do not use where flammable or corrosive gas is present.
Leaked gas accumulating around the unit causes explosions and fire.
Make sure that you securely install the unit in a place that can fully withstand
both the unit’s weight and its usage.
In addition, for units with a cooling fan on the back, allow for 30cm or more
clearance between the back 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.
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 to do so causes fires and unit malfunction.
When inspecting or lubricating the unit, unplug the power cord from the wall
outlet, then remove the cord from the main unit and make sure there is no
electrical current. Also,
do not touch any of the power inlet pins within 5
seconds of removing the power cord. Failure to follow these steps causes
electric shocks and injury.
Warning
Danger
6

Dispensing Specifications
Desktop Robot JR3000
FOR YOUR SAFETY
Always make sure the unit is grounded
. Do not use when the unit is not
grounded.
Improper grounding causes electric shocks and fires.
Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
Dust accumulation deteriorates the electrical insulation and causes fires.
Be sure to unplug the power cord from the power outlet when the unit is not
in use for long periods of time.
Dust accumulation causes fires.
Be sure to turn OFF the unit before inserting or removing 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 malfunction.
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 the dealer from
whom you purchased the robot or the office listed on the last page of this
manual.
Continuing to use the robot without addressing the problem causes electric shock,
fire, or unit breakdown.
Warning
7

Dispensing Specifications
Desktop Robot JR3000
FOR YOUR SAFETY
Do not drop or jar the unit during transport and/or installation.
This causes injuries or damages the unit.
Before performing any operation, ensure there is no imminent danger to any
of the operators. Failure to do so causes injury.
Use the unit in an environment between 0 and 40°C, with a humidity level of
20 – 90%, and without condensation.
Use outside of these conditions can cause unit malfunction.
Use the unit in an environment where no electrical noise is present.
Failure to do so causes unit malfunction or breakdown.
For models with IO-S circuits, when installing the 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 stop the robot immediately and safely. This is potentially dangerous.
Make sure that you regularly perform a function check for the emergency
stop switch. Also, for models with IO-S circuits, regularly perform an IO-S
circuit function check.
If you perform work without making a circuit check, you or the operator will not be
able to immediately and safely stop the robot in an emergency. This is potentially
dangerous.
Caution
8

Dispensing Specifications
Desktop Robot JR3000
FOR YOUR SAFETY
When the dispenser (syringes etc.) is equipped, make sure it is 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
inspection every 3 months.
Failure to do so causes injury or breakdown.
Be sure to check the connections of the cords and cables to the main unit.
Improper wiring causes unit malfunction or breakdown.
Be sure to secure the movable parts of the unit before transportation.
Failure to do so causes injury or breakdown.
When transporting and lifting 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 breakdown.
Individual Configuration Information varies for each individual unit even if they are the
same model. Do not us
e backup data with a different robot. The robot cannot
function normally with backup data from a different robot.
Caution
9

Dispensing Specifications
Desktop Robot JR3000
IO-SYS
Connector
Dispenser
Controller
IO-SYS Cable
Air Tube
Syringe
Nozzle
Air Tube
Dispenser Controller
Nozzle
Syringe
IO-SYS Cable
(Robot)
1. INSTALLATION
1.1 How to Mount the Dispenser (Example: 3-Axis Model)
1. Mount the syringe on the Z-axis of the robot.
2. Connect the air tube to the syringe.
3. Connect the air tube to the dispenser controller.
4. Connect the IO SYS cable to the dispenser controller and to the robot.
For further details, refer to “2.5.5Attaching Tools” in Setup.
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Dispensing Specifications
Desktop Robot JR3000
2. TEACHING DATA
2.1 Point Types
Point types are defined according to the type of job or movement, such as Point Dispense or Start of
Line Dispense.
For dispensing specifications there are the 6 standard point types and as well as the following 20 point
types:
Work Home
1. Point Dispense
This does point dispensing. A point dispensing time can be set for this. When point dispensing is
finished, the “dispensing return movement” as set in Dispense Conditions is performed. The robot
makes a PTP movement to the next point.
2. Start of Line Dispense
Line dispensing starts from this point. The robot switches from PTP to a CP movement for this. You
can set the dispenser ON/OFF and the line speed to this point.
After the dispenser is turned ON, the robot holds for the [Wait Time at Start] set in Dispense
Conditions. The robot then moves by CP movement until it finishes the End of Line Dispense point.
3. Line Passing
This point is used to change the direction or speed of the CP movement between the Start of Line
Dispense and the End of Line Dispense points. You can set the dispenser ON/OFF and the line
speed for this point.
1
2
3
4
5
6
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Dispensing Specifications
Desktop Robot JR3000
4. CPArc Point
This point is necessary for specifying an arc in a CP movement drawn between the Start of Line
Dispense and End of Line Dispense points. You can set the line speed for this point.
5. End of Line Dispense
This point executes the “dispensing return movement” set in Dispense Conditions once Line
Dispensing (CP movement) finishes.The robot makes a PTP movement to the next point.
6. Wait Start Point
The robot waits at this position until the start button is pressed or until a start signal comes ON.
The robot makes a PTP movement to the next point.
7. Start of Circle Dispense
8. Center of Circle Dispense
By moving in succession from a Start of Circle Dispense point Center of Circle Dispense point
the robot draws a circle or arc (CP movement). The [Dispenser ON] signal comes ON
automatically at the Start of a Circle Dispense point and goes OFF at the end position of the circle
or arc.
You can set the line speed to the Start of Circle Dispense, and a circle angle to the Center of Circle
Dispense points.
You can set up to ±9999.999 deg. for the circle angle in increments of 0.001 deg. If the value of the
circle angle is positive, the robot makes an arc counterclockwise (when looking from above the
front of the robot) as illustrated below. After the dispenser is turned ON at the Start of Circle
Dispense point, the robot stands by for the prescribed [Wait Time at Start] set in “Dispense
Conditions”, and then moves to the circle or arc end position by CP movement. At the circle or arc
end position, the robot executes the “dispensing return movement” set in Dispense Condition.
Moves from the previous point by
PTP Movement
CircumferenceAngle: -90°
CircumferenceAngle: 180°
(7) Start of Circle
Dispense
(8) Center of Circle
Dispense
+X
+Y
Moves to the next point by PTP movement
Moves to the next point by PTP movement
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Dispensing Specifications
Desktop Robot JR3000
NOTE
•If a circle or arc is drawn from the Start of Circle Dispense Center of Circle points, the robot
makes a PTP movement to the next point. If you want to move from a circle or arc by CP
movement, please use a CPArc Point.
•Always teach the Start of Circle Dispense and Center of Circle Dispense points in succession. If
any point other than the Center of Circle Dispense Point immediately comes after the Start of Circle
Dispense point, an error will occur. In addition, because the robot makes a PTP movement from the
arc to the next point, if the point following the Center of Circle Dispense point is a Line Passing point,
End of Line Dispense point, or CPArc Point, this becomes an error.
9. Zigzag Start Point
The robot zigzags and fills in the area
of a rectangle specified by the [Zigzag
Start Point] and [Rectangle End Point].
10. Rectangular Spiral Start Point
The robot spirals from the Rectangular
Spiral Start Point toward the center, and
does so by executing line dispensing at
the specified [Line Speed] on a horizontal
plane at the Rectangular Spiral Start
Point.
11. Hollow Rectangle Start Point
The robot spirals from the Hollow Rectangle Start Point toward the center, and does so by
executing line dispensing at the specified [Line Speed] on a horizontal plane at the Hollow
Rectangle Start Point.
However, with a Hollow Rectangle Start Point – Rectangle End Point operation, the line dispensing
finishes directly before the corner that exceeds the specified [Filling Width] of the spiral trajectory.
The center of the rectangle is not filled in.
:FillArea
10. Rectangular Spiral Start Point
12. Rectangle End Point
Dispense End
9. Zigzag Start Point
12. Rectangle
End Point
Pitch Count
Dispense End
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Dispensing Specifications
Desktop Robot JR3000
12. Rectangle End Point
The robot fills in the area of a rectangular shape specified by one of the following points: [Zigzag
Start Point], [Rectangular Spiral Start Point] or [Hollow Rectangle Start Point], and the [Rectangle
End Point].After dispensing is finished, the robot makes a PTP movement to the next point.
13. Spiral Start Point
The robot fills in a circular area specified by the three points: [Spiral Start Point], [Circumference of
SpiralArea 1] and [Circumference of SpiralArea 2].
The robot spirals from the Spiral Start Point toward the center at the specified [Line Speed], and
does so by executing line dispensing on a horizontal plane from the Spiral Start Point Z
coordinates.
14. Hollow Spiral Start Point
The robot spirals toward the center at the specified [Line Speed], and does so by executing line
dispensing on a horizontal plane from the Hollow Spiral Start Point Z coordinates.
However, line dispensing ends at the position where the robot exceeds the specified [Filling Width].
The center of the spiral is not filled in.
15. Circumference of SpiralArea 1
The robot fills in the area of a circle specified by the three points: [Spiral Start Point] or [Hollow
Spiral Start Point], [Circumference of SpiralArea1] and [Circumference of SpiralArea 2].
16. Circumference of SpiralArea 2
The robot fills in the area of a circle specified by the three points: [Spiral Start Point] or [Hollow
Spiral Start Point], [Circumference of Spiral Area1] and [Circumference of Spiral Area 2]. After
dispensing is finished, the robot makes a PTP movement to the next point.
17. Circle Start Point
18. Circle Center Point
These two point types perform the same operations as the Start of Circle Dispense Center of
Circle Dispense points, except that the [Dispenser ON] signal does not change ON/OFF.
19. X Needle Measure Point
This is a point for measuring the needle in the X direction when using a needle adjuster. When
replacing the nozzle, adjust by comparing the nozzle tip position.
20. Y Needle Measure Point
This is a point for measuring the needle in the Y direction when using a needle adjuster. When
replacing the nozzle, adjust by comparing the nozzle tip position.
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Dispensing Specifications
Desktop Robot JR3000
NOTE
For information regarding standard point types, please refer to the to the operation manual Basic
Instructions.
Depending on the point types set to the points, some items cannot be set to them.
The chart below indicates what items can be set to each point type.
(: Can be set, Blank: Cannot be set)
Job/Additional Function Data
Point Type
Line Speed
*1Condition Number
*2Job Before Moving
*2Job while Moving
*2Job after Moving
*2Job While CP Moving
PTP Condition
CP Condition
Tool Data
Pallet Routine
Work pieceAdjustment
Execute Conditions
Tag Code
Dispense Time
Dispenser ON
CircleAngle
Direction
The Number of Pitches
Filling Width
Line Dispensing
Point Dispense











Start of Line Dispense













Line Passing






CPArc Point





End of Line Dispense





Wait Start Point










Start of Circle Dispense













Center of Circle Dispense


∆


Zigzag Start Point












Rectangular Spiral Start Point











Hollow Rectangle Start Point
           
Rectangle End Point



Spiral Start Point












Hollow Spiral Start Point













Circumference of SpiralArea 1
Circumference of SpiralArea 2



PTP Point










CP Start Point












CP Passing Point





CP Stop Point







CP End Point





PTP Evasion Point



Circle Start Point












Circle Center Point


∆


X Needle Measure Point










Y Needle Measure Point










∆:When drawing an arc using Start of Circle Dispense – Center of Circle Dispense points or Circle
Start Point – Circle Center Points, the [Workpiece Adjustment] set to a Start of Circle Dispense point
or Circle Start Point is applied. Even if you set a [Workpiece Adjustment] to a Center of Circle
Dispense or Circle Center Point it is not applied to the arc. Also, you cannot set [Workpiece
Adjustment] to a Center of Circle Dispense or Circle Center Point from a PC (JR C-Points II).
15

Dispensing Specifications
Desktop Robot JR3000
Wait Time a
ft. Retrn
Waiting position
Wait Time at Stop
Waiting position
Z Return Height /
XY Return Dist.
Wait Time at Start
Waiting position
Start of
Line Dispense
End of
Line Dispense
*1[Condition Data] selected from [Condition Number] is different from [Condition Data] set from
individual program settings. For further details, please refer to “2.2 Dispense Conditions.”
*2When a [Point Job], etc., is set to the point types [Point Dispense] – [Line Passing], [End of Line
Dispense], [Wait Start Point], [Start of Circle Dispense]– [Circumference ofArea 2], the job/operation
attached to that point type is not executed. For example, [Wait Start Point] is a point where the robot
waits until the start switch is pressed or until a start command is received; however, if an optional
[Point Job] is set, the robot will not wait anymore.
If you want to set [Point Job] etc., to these points and also want the robot to do the jobs included in
the point types, please use the CallBase command.
*3 Do not set the items shown as settable for the point types [X Needle Measure Point] and [Y Needle
Measure Point]. For further details refer to “15. Using Needle Adjuster 2 (Optional) (3 Axis
Specifications Only).”
2.2 Dispense Conditions
1. Wait Time at Start
This is the time the robot holds until it starts dispensing after the dispenser signal is turned ON.
(Holding point: Start of Line Dispense point/Start of Circle Dispense point)
2. Wait Time at Stop
This is the time the robot holds until the Z axis starts going up after the dispenser signal is turned
OFF.
(Holding position: Point Dispense/End of Line Dispense point/dispensing end position*)
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Dispensing Specifications
Desktop Robot JR3000
3. Return Type
After dispensing ends, the Z axis is raised at the [Return Line Speed] to prevent dripping. You can
select from the following 4 types. The return movements are executed with [Point Dispense], [End
of Line Dispense] or at the dispensing end position*.
•Nil
After the end of dispensing, once the robot stands by for the prescribed [Wait Time at Stop], it
moves to the next point.
•Z Up Only
After the end of dispensing, once the robot stands by for the prescribed [Wait Time at Stop];
only the Z axis ascends at the specified [Return Line Speed] to exactly the specified [Z Return
Height].
•XY MovingAfter Z Up
After the end of dispensing, once the robot stands by for the prescribed [Wait Time at Stop];
only the Z axis ascends at the specified [Return Line Speed] to exactly the specified [Z Return
Height]. Thereafter, X and Y move by the exact [XY Return Dist.] in the return direction
(opposite to line dispensing).
•XYZ Simultaneous
After the end of dispensing, once the robot stands by for the prescribed [Wait Time at Stop], X
and Y move by the exact [XY Return Dist.] in the return direction while the Z axis ascends at
the specified [Return Line Speed] to exactly the specified [Z Return Height]. (XYZ move and
rise simultaneously)
4. Z Return Height
5. XY Return Dist.
In order to prevent dripping on non-dispensing areas once dispensing has finished, the X and Y
axes move by the distance specified here while the Z axis ascends after the robot stands by for the
prescribed [Wait Time at Stop]. With a [Point Dispense] operation, only the Z axis ascends and
even if [XY Return Dist.] is set, the robot does not move in the X and Y directions.
6. Return Line Speed
After the robot holds for the specified [Wait Time at Stop], the robot moves/raises each axis by the
exact amount set in [Z Return Height]/[XY Return Dist.] at the speed specified here.
7. Wait Time aft. Retrn
The robot stands by for the time specified here before the Z axis ascends at normal speed, after
the return movement is complete (the robot moves/raises each axis by the exact amount set in [Z
Return Height]/[XY Return Dist.] at the speed specified in [Return Line Speed]),
(Hold position: (Point Dispense/End of Line Dispense point/dispensing end position*) + [Z Return
Height]/[XY Return Dist.])
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Dispensing Specifications
Desktop Robot JR3000
*Dispensing End Position: This is the end position of an arc or dispense filling that is drawn with Start of
Circle Dispense – Center of Circle Dispense
2.2.1 Individual Program Settings
Within individual program settings there is the settable item [Dispense Condition]. These can be set for
each program, and the values set are valid only when that program is executed.
Press the MENU key and select [Individual
Program Settings] [Dispense Condition]. The
dispense condition settings screen (as shown
to the right) is displayed.
2.2.2 Condition Number
When [Condition Number] is set with a “dispense condition,” use this method rather than [Individual
Program Settings].
Press the MENU key and select [Dispense
Condition] and enter the condition number. The
dispense condition settings screen (as shown
to the right) is displayed.
Program 1
Wait Time at Start 0.5sec
Wait Time at Stop 0sec
Return type XY moving after Z up
Z return Height 10mm
ZY return dist. 30mm
Return line speed 30mm/s
Wait time aft. Retrn 0sec
Dispense Condition 1
Wait Time at Start 0.5sec
Wait Time at Stop 0sec
Return type XY moving after Z up
Z return Height 10mm
ZY return dist. 30mm
Return line speed 30mm/s
Wait time aft. Retrn 0sec
18

Dispensing Specifications
Desktop Robot JR3000
2.3 Dispenser
There are [Dispenser] settings which are universal settings (common data) for all programs.
You can set or change the dispenser connection point, type and valid/invalid status for dispenser
response signals, and the dispenser mode.
MENU [Dispenser]
Press the MENU key and select [Dispenser]
to display the dispenser setting screen (as
shown to the right.
1. IO FunctionAssignment
The assignment of dispenser related signals can be changed. By default, these are assigned as
follows:
•Dispenser ON: #sysOut10
•Dispenser Response: #sysIn13
•Purge by Ext. Signal: #sysIn14
•X Needle Sensor: #sysIn15
•Y Needle Sensor: #sysIn16
2. Dispenser Type
You can select and set the dispenser return signal types from among the following 3 choices:
•No Response Signal
The robot ignores signals from the dispenser.
•Busy Signal Operation
The robot verifies signals output from the dispenser while dispensing from the start to the end
of dispensing.
•Finish Signal Operation
The robot verifies signals from the dispenser when dispensing ends.
TP
Dispenser
IO Function Assignment
Dispenser Type No Response Signal
Dispenser Mode Steady
Purge Switch Constant valid
Purge by ext. signal Constant valid
Automatic Purge Invalid
Cycle of automatic purge 10sec
Time of automatic purge 0.5sec
Dispenser Item Selection Screen
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