Janome JR3000 Series User manual

JANOME DESKTOP ROBOT
JR3000 Series
Operation Manual
External Control
(I/O / Fieldbus)
Thank you for purchasing this Janome Robot.
• Before using your robot, read this manual thoroughly and always make
sure you use the robot correctly. In particular, be sure to thoroughly read
“For Your Safety” as it contains important safety information.
• After reading this manual, store in a safe place that can be easily
accessed at any time by the operator.
Original Instructions

External Control (I/O / Fieldbus) 1 DESKTOP ROBOT JR3000
PREFACE
This manual covers the JR3200, JR3300, JR3400, JR3500, and the JR3600 Series.
There are several manuals pertaining to these robots.
Manual Details JR3000 JC-3 JS3
Read This First
• For Your Safety
Be sure to thoroughly read “For Your Safety”
as it contains important safety information.
• Package Contents (JS3 Series only)
Check the items included with your robot.
• CD-ROM Contents
Explains the CD-ROM contents.
  
Setup (JR3000 / JC-3)
Installation (JS3)
Explains how to set up the robot.
■Make sure you read this manual when
installing the robot ■
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 when performing
maintenance ■
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.  (Common) 
Quick Start Explains the actual operation of the robot by
creating and running simple programs.  (Common) 
Teaching Pendant
Operation
Explains how to operate the robot via the teaching
pendant.  (Common) 
Functions I Explains point teaching.  (Common)
Functions II Explains commands, variables, and functions.  (Common)
Functions III Explains functions such as All Program Common
Settings and PLC programs.  (Common)
Functions IV Explains Customizing Functions.  (Common)
External Control Explains I/O and Fieldbus.
Refer to this manual if you are using Fieldbus.   
Communication
Control Explains COM 1 – 3 and LAN communication control.  (Common)
Camera & Sensor
Functions
Explains the functions of the attachable camera
and Z position sensor.  (Common)

External Control (I/O / Fieldbus) 2 DESKTOP ROBOT JR3000
Manual Details JR3000 JC-3 JS3
Specifications Outlines general specifications such as the robot’s
operating range, mass, etc.   –
Auxiliary Axis
Functions Explains the auxiliary axis functions.  (Common)
Application
Specifications
Explains the specialized functions of the various
application specifications.
Standard model: -
Application model: 
Warning
Do not handle or operate the robot in ways not covered in the manuals listed here.
Contact Janome (information provided on the back of this manual) for repairs.
Failure to do so can cause electric shock or injury.
Caution
To make full use of the machine’s functions and capabilities, make sure that you
use the robot according to the correct handling/operation procedures that are
written in the manuals pertaining to this robot.
If you turn OFF the power after making changes to robot’s settings or data without
saving, these changes are lost and the robot will revert to its original settings.
Make sure that you save any changes to data and/or settings.
Before using this robot for the first time, make sure you back up robot data and save
the individual configuration information. Individual configuration information is needed
when replacing internal circuit boards. For details on how to back up robot data, refer to
“3. BACKING UP AND RESTORING ROBOT DATA” in the operation manual
Setup
.
• The descriptions within this manual are based on standard specifications. The menu item
names etc. may vary depending on the model type.
• For information regarding optional additions, refer to “24. SPECIFICATIONS” in the operation
manual
Specifications
. The notation “optional” is not used in the main text of this manual
except for diagrams.
• Machine specifications may be modified without prior notice to improve quality.
Remarks:
• The operation methods described in this manual are indicated as follows:
Operation via the teaching pendant
Operation via PC (JR C-Points II)
• Click text that appears blue and is underlined to jump to that section.
Example: Refer to “1. OUTLET.”

External Control (I/O / Fieldbus) 3 DESKTOP ROBOT JR3000
CONTENTS
PREFACE........................................................................................................................................1
FOR YOUR SAFETY.......................................................................................................................7
1. OUTLET ....................................................................................................................................15
1.1 Outlet Location and Shape .................................................................................................. 15
1.2 Internal Circuit of the Outlet Output Terminal....................................................................... 16
1.3 Timing Chart.........................................................................................................................17
2. I/O-SYS .....................................................................................................................................18
2.1 Connectors...........................................................................................................................18
2.2 Pin No. (Robot Side)............................................................................................................19
2.3 I/O Cable (Unit)....................................................................................................................19
2.4 Wiring Layout Check (NPN).................................................................................................21
2.5 Wiring Layout Check (PNP).................................................................................................22
2.6 Power Supply Capacity........................................................................................................ 23
2.7 Input Signal (NPN)...............................................................................................................24
2.8 Output Signal (NPN) ............................................................................................................25
2.9 Circuit Diagram (NPN) .........................................................................................................26
2.10 Input Signal (PNP) .............................................................................................................28
2.11 Output Signal (PNP)........................................................................................................... 29
2.12 Circuit Diagram (PNP) ....................................................................................................... 30
2.13 AC Power Control of an External Device during an Emergency Stop ............................... 32
3. SYSTEM INPUT/OUTPUT FUNCTIONS ..................................................................................33
3.1 Input.....................................................................................................................................33
3.2 Output ..................................................................................................................................38
3.3 System Function Assignment Signal Conversion Table....................................................... 40
4. I/O-SYS FUNCTION ASSIGNMENT ......................................................................................... 41
5. FIELDBUS FUNCTION ASSIGNMENT.....................................................................................43
6. SYSTEM INPUT/OUTPUT SIGNAL TIMING CHARTS............................................................. 44
6.1 Power ON, Mechanical Initialization, Go to Work Home and Run Program ........................ 44
6.2 Power ON, Mechanical Initialization and Run Program....................................................... 45
6.3 Power ON, Mechanical Initialization, Go to Work Home and Run Program ........................ 46
6.4 Change Program Number and Run Program via Program Number Load ........................... 47
6.5 Change Program Number, Run Program and Go to Work Home via Program Number Load...48
6.6 Change Program Number and Program Number Error via Program Number Load............ 49
6.7 Change Program Number and Run Program via Load at Start ........................................... 50
6.8 Program Number Error and Changing Program Numbers via Load at Start ....................... 51
6.9 #sysIn2, #sysIn14 Start Inhibition ........................................................................................52

External Control (I/O / Fieldbus) 4 DESKTOP ROBOT JR3000
6.10 #sysIn2, #sysIn14 Stop-Start Inhibition..............................................................................53
6.11 #sysIn2, #sysIn14 Software Interlock................................................................................. 54
6.12 #sysIn2, #sysIn14 Urgent Stop..........................................................................................55
6.13 #sysIn12 Temporary Stop .................................................................................................. 56
6.14 #sysIn12 Temporary Stop - Single Point Run .................................................................... 57
6.15 #sysIn11 Temporary Stop and Initialize .............................................................................58
6.16 #sysIn11 Last Work............................................................................................................ 59
6.17 #sysOut6 Error................................................................................................................... 60
6.18 #sysOut8 Position Error.....................................................................................................61
7. FIELDBUS.................................................................................................................................62
7.1 Fieldbus Settings ................................................................................................................. 64
7.2 DeviceNet ............................................................................................................................64
7.2.1 Connector Diagram .......................................................................................................64
7.2.2 Network Status..............................................................................................................64
7.2.3 Module Status ............................................................................................................... 65
7.2.4 Connector Pin Assignment ............................................................................................ 65
7.2.5 Settings .........................................................................................................................66
7.3 PROFIBUS...........................................................................................................................67
7.3.1 Connector Diagram .......................................................................................................67
7.3.2 Operation Mode (OP) / Status (ST)............................................................................... 67
7.3.3 Connector Pin Assignment ............................................................................................ 67
7.3.4 Settings .........................................................................................................................68
7.3.5 PROFIBUS Master (PLC) Settings................................................................................69
7.4 CC-Link................................................................................................................................70
7.4.1 Connector Diagram .......................................................................................................70
7.4.2 Run (RUN) / Error (ERR)...............................................................................................70
7.4.3 Connector Pin Assignment ............................................................................................ 70
7.4.4 Settings .........................................................................................................................72
7.5 CANopen .............................................................................................................................74
7.5.1 Connector Diagram .......................................................................................................74
7.5.2 RUN Status ................................................................................................................... 74
7.5.3 ERROR Status ..............................................................................................................75
7.5.4 Connector Pin Assignment ............................................................................................ 75
7.5.5 Settings .........................................................................................................................76
7.5.6 CANopen Assignment ...................................................................................................77
7.6 PROFINET...........................................................................................................................78
7.6.1 Connector Diagram .......................................................................................................78
7.6.2 Network Status..............................................................................................................78
7.6.3 Module Status ............................................................................................................... 78

External Control (I/O / Fieldbus) 5 DESKTOP ROBOT JR3000
7.6.4 Link/Activity ...................................................................................................................78
7.6.5 Ethernet Connectors ..................................................................................................... 79
7.6.6 Settings .........................................................................................................................80
7.7 EtherNet/IP ..........................................................................................................................80
7.7.1 Connector Diagram .......................................................................................................80
7.7.2 Network Status..............................................................................................................80
7.7.3 Module Status ............................................................................................................... 81
7.7.4 Link/Activity ...................................................................................................................81
7.7.5 Ethernet Connector .......................................................................................................81
7.7.6 Settings .........................................................................................................................82
7.8 Fieldbus Expansion I/O Function.........................................................................................83
7.8.1 Interfacing Protocol ....................................................................................................... 83
7.8.2 Valid/Invalid Settings ..................................................................................................... 84
7.8.3 Function Assignment..................................................................................................... 84
8. I/O-1...........................................................................................................................................95
8.1 Connector ............................................................................................................................95
8.2 Pin No. (Robot Side)............................................................................................................96
8.3 Function Assignment List ..................................................................................................... 97
8.4 I/O2 Cord (Unit)....................................................................................................................98
8.5 Power Supply Capacity........................................................................................................ 99
8.6 Input Signal (NPN).............................................................................................................100
8.7 Output Signal (NPN) ..........................................................................................................101
8.8 Circuit Diagram (NPN) .......................................................................................................102
8.9 Input Signal (PNP) .............................................................................................................104
8.10 Output Signal (PNP) ........................................................................................................ 105
8.11 Circuit Diagram (PNP)...................................................................................................... 106
9. I/O-S ........................................................................................................................................108
9.1 Connector ..........................................................................................................................108
9.2 Pin No. (Robot Side)..........................................................................................................109
9.3 Safety Device..................................................................................................................... 110
10. I/O-MT ................................................................................................................................... 112
10.1 Connector ........................................................................................................................ 112
10.2 Pin No. (Robot Side)........................................................................................................ 113
10.3 Function Assignment (NPN)............................................................................................. 114
10.4 Function Assignment (PNP)............................................................................................. 116
10.5 I/O-MT Option Cord (Unit)................................................................................................ 118
10.6 Power Supply Capacity.................................................................................................... 119
10.7 Input Signals ....................................................................................................................120
10.8 Output Signals ................................................................................................................. 121

External Control (I/O / Fieldbus) 6 DESKTOP ROBOT JR3000
10.9 Pulse Output Signals ....................................................................................................... 122
10.10 Circuit Diagram (NPN) ...................................................................................................123
10.11 Circuit Diagram (PNP).................................................................................................... 125

External Control (I/O / Fieldbus) 7 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. 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.
Danger This symbol indicates an imminent risk of serious injury or death.
Warning This symbol indicates a risk of serious injury or death.
Caution 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 Prohibition)
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 cord
Make sure the machine is grounded

External Control (I/O / Fieldbus) 8 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
If using auxiliary axis functions to operate a motor, such as a servo motor, that
produces feedback and/or a motor with high output etc., or when using auxiliary
axes in the robot setup etc., we ask that you perform a risk assessment on your
side and take any necessary safety measures.
If Using Auxiliary Axis Functions in a Way that Require Safety Measures
Danger
Always set up safety guards around the robot or the auxiliary axes so the
moveable parts cannot be touched.
Anyone within the maximum reach of the robot and the auxiliary axes being
controlled by the robot may be injured. Set up an emergency stop interlock
device that cuts OFF the motor power to the auxiliary axes when the
entrance to the safety guard is opened and make sure this entrance is the only
way to access the machine.
NOTE: A stop made via a device connected to the I/O-S connector is a stop category 2.
Make sure to perform a separate risk assessment of the interlock device.
Furthermore, put up a “Keep Out” or “Do Not Operate” warning sign in a clearly
visible place.
Example:

External Control (I/O / Fieldbus) 9 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
If Using Auxiliary Axis Functions in a Way that Require Safety Measures
Danger
When power to the robot is ON, never enter the safety guard or put your
head, hands, or any part of your body inside.
Entering the safety guard could result in injury.
When entering the safety guard due to something wrong with the robot or a
peripheral device, or to inspect or lubricate the machine etc., with both the power
supply breaker and the robot switched OFF, make sure to lockout and tagout
and confirm there is no electricity flowing to the robot.
Failure to do so can cause electric shock or injury.
Warning
When creating a robot system using auxiliary axis functions, if the system can be
categorized as an industrial robot, make sure to use the robot in accordance with
the laws and guidelines of the country where it is used.
Before performing a run or operation, always check the following:
• Obstacles : Make sure there are no obstacles or people within
the safety guard.
• Installation : Make sure the robot is installed properly, that
there are no abnormalities with the robot and
the surrounding devices, and that the teaching
pendant and tools are in the appropriate places.
• Emergency Stop Switch :Make sure the I/O-S circuit (interlock) and emergency
stop switch(es) are functioning properly.
It is potentially dangerous to operate the robot without making these checks first.

External Control (I/O / Fieldbus) 10 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
If Using Auxiliary Axis Functions in a Way that Require Safety Measures
Warning
Construct safety guards that are strong enough to protect the operator
against such dangers as the tool or workpiece splintering, etc.
When working within the safety guard, use protective gear such as a helmet,
protective gloves, protective goggles, and safety shoes.
Failure to follow these safety measures can result in injury.
If objects that the robot grasps have a risk of falling or being projected, take into
account the size, mass, and chemical composition of the objects for the
required safety precautions.
Failure to do so can result in injury or unit breakdown.
When working within the safety guard, make sure not to come within the
maximum range of the robot.
Failure to do so can cause injury.
When starting a run, first confirm there are no people inside of the safety guard
and there are no obstacles that could interfere with the run.
Failure to do so can cause injury or unit breakdown.

External Control (I/O / Fieldbus) 11 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
Danger
Do not use where flammable or corrosive gas is present.
Leaked gas accumulating around the unit causes explosions or fire.
Warning
Use protective gear such as a helmet, protective gloves, protective goggles,
and safety shoes when installing the robot and performing maintenance.
Failure to do so can cause injury.
Make sure that you securely install the unit in a place that can fully withstand
both the unit’s weight and its usage. Install the robot on a workbench 600 mm
or higher above floor level, in the center of the workbench.
In addition, for units with a cooling fan on the back, allow for 300 mm or more
clearance between the back of the unit and the wall.
Install the switchbox 600 mm or more above floor level in an easily accessible place.
If installation is inadequate, the unit can drop or fall over causing injury and unit
breakdown. Also, inadequate installation causes overheating or fire.
Make sure to power the unit within its rated current range.
Failure to do so causes electric shock, fire, or unit breakdown.
Plug the power cord into the power 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 unit breakdown, fire, or electric shock.
When replacing fuses, or inspecting or lubricating the unit, unplug the power
cord from the power 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 cords. Failure to follow
these steps causes electric shock or injury.

External Control (I/O / Fieldbus) 12 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
Warning
Always make sure the machine is grounded through the power cord.
Do not use the machine when it is not grounded.
Improper grounding causes electric shock, fire, malfunction, or unit breakdown.
Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
Dust accumulation deteriorates the electrical insulation or causes fire.
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 fire.
Be sure to turn OFF the unit before inserting or removing cords and cables
such as the teaching pendant cable or LAN cable.
Failure to do so causes electric shock, data loss, unit breakdown, or malfunction.
If disassembling this machine, follow the instructions in the operation
manual
Maintenance
, and do not disassemble in any other way other than
those specified. Do not modify the machine in any way.
Inappropriate disassembly or modification causes electric shock or unit breakdown.
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 breakdown.
IP Protection Rating: IP20.
If anything unusual occurs, such as a burning smell or unusual sound, stop
operation and unplug the power cord immediately. Contact Janome (details
on the back of this manual) or a Janome dealer.
Continuing to use the robot without addressing the problem causes electric shock,
fire, or unit breakdown.

External Control (I/O / Fieldbus) 13 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
Caution
Do not drop or jar the unit during transport and/or installation.
This can cause injury or damage the unit.
Before performing any operation, ensure there is no imminent danger to any
of the operators. Failure to do so causes injury.
Use the unit in an environment between 0 and 40 °C, with a humidity level of
20 to 90 %, and without condensation.
Use outside of these conditions can cause unit breakdown or 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 I/O-S circuits*, when installing the unit, take safety
measures such as setting up area sensors and safety guards.
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 of the emergency
stop switch(es). Also, for models with I/O-S circuits*, regularly perform
an I/O-S circuit function check. If the robot is operated without making these
checks, it may not be possible to stop the robot immediately and safely in an
emergency. This is potentially dangerous.
* A stop made via a device connected to the I/O-S connector is a stop category 2. Make sure to
perform a separate risk assessment of the interlock device.

External Control (I/O / Fieldbus) 14 DESKTOP ROBOT JR3000
FOR YOUR SAFETY
Caution
When attaching tools, a USB camera, or any other device, make sure they
are securely fitted before running the robot.
Failure to do so causes injury or breakdown.
When using the machine for extended periods of time, check and make sure
none of the main unit’s mounting screws are loose, and perform a routine
inspection every 3 months or after every 750 hours of operation. Failure to do
so causes injury or breakdown.
Be sure to check the connections of the cords and cables to the main unit.
Improper connection causes unit malfunction or breakdown.
When lifting or transporting the robot, do so in accordance with the following:
• Secure the movable parts of the unit (the Z/ZR mechanism) before
transportation.
• Lift and transport the JR3200 Series with 2 or more people.
• Lift and transport the JR3300 – JR3600 Series with 2 or more people or
use a lifter.
• Hold the bottom of the base and keep the robot horizontal.
• Do not hold the robot by the column or Y body.
Failure to adhere to this can cause injury or damage the robot.
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 use backup data with a different robot. The robot
cannot function normally with backup data from a different robot.

External Control (I/O / Fieldbus) 15 DESKTOP ROBOT JR3000
1. OUTLET
The following robot models are equipped with a power outlet: JR3300, JR3400, JR3500 and JR3600.
1.1 Outlet Location and Shape
If you want to stop tool operation when the emergency stop switch is pressed, use one of the
following methods:
1. When you want to stop the tool by cutting OFF the power supply.
• With Outlet Specifications:
Connect the power cord for the tool (or the tool controller) to the outlet on the robot*1
• Without Outlet Specifications:
Use the I/O-SYS “#sysOut7 Emergency Stop” signal to construct a system that cuts OFF
power to the tool unit when an emergency stop occurs*2
2. The dispenser cannot stop purging the dispensing agent by cutting the power supply OFF:
Do not connect the dispenser to the robot outlet, but instead use the I/O-SYS “#sysOut7
Emergency Stop” signal to construct a system that inputs a reset signal to the dispenser
when an emergency stop occurs*2.
*1: Refer to “1.2 Internal Circuit of the Outlet Output Terminal” and “1.3 Timing Chart” for details
regarding the internal circuit and outlet function.
*2: Refer to “2.13 AC Power Control of an External Device during an Emergency Stop” for the
I/O-SYS circuitry diagrams
.
JR3400 – JR3600 Series
Example: JR3403N-AC
JR3300 Series
Example: JR3303N-AC
Outlet

External Control (I/O / Fieldbus) 16 DESKTOP ROBOT JR3000
1.2 Internal Circuit of the Outlet Output Terminal
*1: Initialization signal connection relay: the contact is open when the emergency stop switch is
pressed, I/O-S is not shorted, or the power is OFF.
*2: I/O-S*3Input signal connection relay: the contact is open when I/O-S is not shorted.
*3: I/O-S is an optional terminal. The contact is always closed when the robot is not equipped
with the I/O-S terminal.
PE PE
24 V GND
24 V GND
DC 24 V
24 V GND
L
N
PE
AC Line
(Single-
Phase)
Relay*1
Relay*2
External
Device
Power Switch
Desktop Robot
Relay Fuse
Initialization Signal
I/O-S Input Signal
Inlet
Emergency Stop Switch
Outlet

External Control (I/O / Fieldbus) 17 DESKTOP ROBOT JR3000
1.3 Timing Chart
* The start/stop switch is operated in Switch Run Mode. A start operation is performed as follows
for the other modes:
• Teaching Mode: F4 key on the teaching pendant.
• External Run Mode: #sysIn1 (start/free) signal via the I/O-SYS terminal.
(1) Power ON
After the power is ON and the start/stop switch is pressed, AC voltage is output from the outlet.
(2) Emergency Stop Switch Active
Outlet output is cut-off.
(3) Emergency Stop Switch Not Active
After the emergency stop switch is released and the start/stop switch is pressed, AC voltage
is output from the outlet.
(4) I/O-S Terminal Not Shorted (optional terminal)
Outlet output is cut-off.
(5) I/O-S Terminal Shorted (optional terminal)
After the start/stop switch is pressed, AC voltage is output from the outlet.
(6) Power Cut-Off
Outlet output is cut-off.
（1） （2） （3） （4） （5） （6）
Power Switch
Emergency Stop Switch
Start/Stop Switch*
I/O-S Input Signal
Initialization Signal
Outlet Output

External Control (I/O / Fieldbus) 18 DESKTOP ROBOT JR3000
2. I/O-SYS
There are system functions assigned to I/O-SYS. For information regarding the assigned
functions, refer to “4. I/O-SYS FUNCTION ASSIGNMENT.”
2.1 Connectors
There are two types of I/O polarity: NPN specifications and PNP specifications. After confirming
your robot’s polarity specifications, always connect tools, etc., which are compatible with these
specifications.
■I/O Polarity
If you are connecting external devices, make sure they are compatible with your robot’s I/O
polarity. The robot’s I/O polarity can be confirmed on the I/O nameplate. Refer to “3.1 I/O
Polarity” in the operation manual
Specifications
.
■I/O Power Supply Indication
• External
The power supply (DC 24 V) for an external device connected to the I/O-SYS is supplied
externally. Prepare a separate I/O power supply.
• Internal
The power supply (DC 24 V) for an external device connected to the I/O-SYS is output
from the I/O-SYS connector.
NOTE: I/O power supply type (External/Internal) is selected when you purchase the robot and
cannot be changed after doing so.
I/O-SYS
JR3200 Series
Example: JR3203N-AC

External Control (I/O / Fieldbus) 19 DESKTOP ROBOT JR3000
2.2 Pin No. (Robot Side)
NOTE: When connecting an external device, make sure it is compatible with the robot’s I/O polarity.
The robot’s I/O polarity can be confirmed on the I/O nameplate. Refer to “3.1 I/O Polarity” in
the operation manual
Specifications
.
2.3 I/O Cable (Unit)
■I/O Cable (Unit) (optional)
NOTE: The part number varies according to the cable length.
Cable Length [m] Janome Part No.
2 984937002
3 984937105
5 984937208
JR3300 Series
Example: JR3303N-AC
I/O-SYS
JR3400 – JR3600 Series
Example: JR3403N-AC
I/O-SYS
19 1
2037