Janome JR3000 Series Manual de usuario
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.
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