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.
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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.
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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
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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
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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
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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