JANOME DESKTOP ROBOT JR2000N Series. Operation Manual. Specifications

Transcription

1 JANOME DESKTOP ROBOT JR2000N Series Operation Manual Specifications Thank you for purchasing a Janome Robot. Read this manual thoroughly in order to ensure proper use of this robot. Be sure to read For Your Safety before you use the robot. The information will help you protect yourself and others from possible dangers during operation. After having read this manual, keep it in a handy place so that you or the operator can refer to it whenever necessary.

2 FOR YOUR SAFETY Safety Precautions The precautions in this manual are provided for the customer to make the best use of this product safely, and to provide preventive measures against injury to the customer or damage to property. Be sure to follow the instructions Various symbols are used in this manual. Please read the following explanations of each symbol. Symbols Indicating the Degree of Damage or Danger The following symbols indicate the degree of damage or danger which may be incurred if the safety notes are ignored. Warning Caution The Warning symbol indicates the possibility of death or serious injury. The Caution symbol indicates the possibility of accidental injury or damage to property. Symbols Indicating Details of Danger and Preventive Measures The following symbols indicate the type of safety measure that should be taken: Indicates the safety measures that should be taken. Be careful. (General caution) Indicates a forbidden action. Never do this. (General prohibition) Do not disassemble, modify, or attempt to repair. Do not touch. (Contact prohibition) Indicates a necessary action. Be sure to follow instructions. Be sure to unplug power cord from wall outlet. Be sure to check that the machine is grounded. Specifications i Desktop Robot JR2000N Series

3 FOR YOUR SAFETY Warning Do not use the unit where flammable or corrosive gas is present. Leaked gas accumulated around the unit can cause fire or an explosion. Use the unit in an environment between 0 and 40 degrees centigrade with a humidity level of 20 to 95 percent and without condensation. Use outside these conditions may result in unit malfunction. IP Protection Rating: IP30 (IP40 for CE specification models) Use the unit in an environment where no electrical noise is present. Failure to do so may result in unit malfunction or breakdown. Use the unit in an environment that is not exposed to direct sunlight. Direct sunlight may cause unit malfunction or breakdown. Install the unit in a place which can endure its weight and conditions while running. Placing the unit in an insufficient or unstable surface may cause the unit to fall, overturn, or break down. This could result in operator injury. Be sure to leave a space of at least 30cm between the back of the robot (equipped with a cooling fan) and the wall. Insufficient space can lead to overheating or fire. Power the unit only with the rated voltage. Failure to do so may cause electric shock, fire, or unit malfunction. If the unit is equipped with the I/O-S, install an area sensor or a safety barrier of adequate strength. Otherwise, a person entering anywhere in the robot s operating range may be injured. Plug the power cord into the wall outlet firmly. Failure to do so can cause the plug to heat up and may result in fire. Wipe the power plug with a clean, dry cloth periodically to eliminate dust. Dust accumulation can deteriorate the electrical insulation and cause fire. Specifications ii Desktop Robot JR2000N Series

4 FOR YOUR SAFETY Warning Be sure to check grounding before you use the unit. Improper grounding can cause electric shock or fire. Be sure to use the unit within the voltage range indicated. Failure to do so may cause fire or unit malfunction. Do not allow water or oil to get on the unit and the power cord. Contact with water or oil can cause electric shock, fire, or unit malfunction. IP Protection Rating: IP30 (IP40 for CE specification model) Be sure to confirm that tools such as the electric screwdriver unit are properly connected. Failure to do so may result in injury or breakdown. Check the mounting screws regularly so that they are always firmly tightened. Loose screws may cause injury or breakdown. Be sure to check the wiring to the main unit. Improper wiring may result in unit malfunction or breakdown. Be sure to secure the movable parts of the unit before transportation. Failure to do so may result in injury or breakdown. Before operating the unit, be sure to check that there is no danger in or around the operating range. Failure to do so may result in injury. Specifications iii Desktop Robot JR2000N Series

5 FOR YOUR SAFETY Warning Do not attempt to disassemble or modify the unit. Disassembly or modification may cause electric shocks or unit malfunction. When lubricating or inspecting the unit, unplug the power cord from the power outlet. Failure to do so may result in electric shock or injury. If anything unusual occurs (e.g. a burning smell or abnormal sound), stop operation and unplug the cable immediately. Contact the dealer from whom you purchased the robot or the office listed on the last page of this manual. Continuous use without repair can cause electric shock, fire, or unit breakdown. 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 can cause fire. Be sure to turn off the unit before inserting or removing cables such as the teaching pendant cable. Failure to do so may result in electric shock, fire, data loss, or unit malfunction. Keep the emergency stop switch within reach of an operator while teaching or running the robot. Failure to do so may be dangerous since it may not be possible to stop the robot immediately and safely. Regularly check that the emergency stop switch works properly. For models with I/O-S circuits, also check that they work properly. Failure to do so may be dangerous since it may not be possible to stop the robot immediately and safely. Specifications iv Desktop Robot JR2000N Series

6 PREFACE The Janome Desktop Robot JR2000N Series is a new low-cost, high-performance robot. We have succeeded in reducing the price while maintaining functionality. Energy- and space-saving qualities have been made possible through the combined use of stepping motors and special micro step driving circuits. This manual describes standard applications of the JR2000N Series. Refer also to the following individual manuals during actual operation of this robot. Setup Maintenance Basic Instructions Quick Start Teaching Pendant Operation PC Operation Features I Features II Features III Features IV External Control I (I/O-SYS) External Control II (COM Communication) Specifications Explains how to set up the robot. Be sure to read this manual before you operate the robot. Explains maintenance procedures for the robot. Provides part names, data structures, and the basic knowledge necessary to operate the robot. Be sure to read this manual before you operate the robot. Explains the actual operation of the robot with simple running samples. Explains how to operate the robot via the teaching pendant. Explains how to operate the robot from a computer (using the JR C-Points software.) Explains point teaching. Explains commands, variables, and functions. Explains features such as run mode parameters, sequencer programs, etc. Explains features in the Customizing mode. Explains the I/O-SYS control. Explains the COM communication control system (COM1 COM3). Provides comprehensive specifications, including mechanical or electrical requirements. Please be sure to follow the instructions described in these manuals. Proper use of the robot will ensure continued functionality and high performance. BE SURE TO PROPERLY GROUND THE ROBOT WHEN INSTALLING. Be sure to save data whenever it is added or modified. Otherwise, changes will not be saved if the power to the robot is cut off. Specifications v Desktop Robot JR2000N Series

7 CONTENTS Specifications FOR YOUR SAFETY i PREFACE v CONTENTS vi 1. EXTERNAL DIMENSIONS 1 Installation ATTACHING EQUIPMENT I/O-SYS 18 Connector 18 Pin No. 18 FUNCTION ASSIGNMENT LIST 19 I/O-SYS Input/Output Functions 20 I/O-SYS Input Signal (Sink Input) 25 I/O-SYS Output Signal (Sink Output) 26 I/O-SYS Output Capacity (Sink Output) 26 I/O-SYS Circuit Diagram (Sink Input/Output) 27 I/O-SYS Input Signal (Source Input) 28 I/O-SYS Output Signal (Source Output) 29 I/O-SYS Output Capacity (Source Output) 29 I/O-SYS Circuit Diagram (Source Input/Output) I/O-1 (OPTIONAL) 31 Connector 31 Pin No. 31 I/O-1 Function Assignment List 32 I/O-1 Cable Connection 32 I/O-1 Output Capacity 33 I/O-1 Input Signal (Sink Input) 34 I/O-1 Output Signal (Sink Output) 35 I/O-1 Circuit Diagram (Sink Input/Output) 36 Specifications vi Desktop Robot JR2000N Series

8 I/O-1 Input Signal (Source Input) 37 I/O-1 Output Signal (Source Output) 38 I/O-1 Circuit Diagram (Sourse Input/Output) I/O-S (CE SPECIFICATIONS) 40 Connector 40 Pin No. 41 I/O-S Safety Circuit COM Connector 43 Pin No. 43 COM Connector Pin Connection TPU 46 Connector 46 Pin No. 46 TPU (Teaching Pendant Connector) 47 TPU (Teaching Pendant Connector) Circuit Diagram SWITCH BOX CONNECTOR (CE SPECIFICATIONS) 49 Connector 49 Pin No. 49 Switch Box Connector Circuit Diagram COMMAND LIST VARIABLE LIST FUNCTION LIST SYSTEM FLAG LIST ERROR MESSAGE LIST SPECIFICATIONS 70 Specifications vii Desktop Robot JR2000N Series

9 MEMO Specifications viii Desktop Robot JR2000N Series

10 1. EXTERNAL DIMENSIONS JR2202N View A A You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 1 Desktop Robot JR2000N Series

11 JR2203N View A View B A B You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 2 Desktop Robot JR2000N Series

12 JR2204N (*1) Attach the tool within the range specified to the right (*1). View A View B A B You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 3 Desktop Robot JR2000N Series

13 JR2302N View A You can select the desired height (indicated by a mark) when placing an order. A Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 4 Desktop Robot JR2000N Series

14 JR2303N View A View B B A You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 5 Desktop Robot JR2000N Series

15 JR2304N (*1) View A Attach the tool within the range specified to the right (*1). View B B A You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 6 Desktop Robot JR2000N Series

16 JR2402N View A You can select the desired height (indicated by a mark) when placing an order. A 125 Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 7 Desktop Robot JR2000N Series

17 JR2403N View A View B A B You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 8 Desktop Robot JR2000N Series

18 JR2404N (*1) Attach the tool within the range specified to the right (*1). View A View B A B You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 9 Desktop Robot JR2000N Series

19 JR2502N View A You can select the desired height (indicated by a mark) when placing an order. A Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 10 Desktop Robot JR2000N Series

20 JR2503N View A View B A B 125 You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 11 Desktop Robot JR2000N Series

21 JR2504N (*1) Attach the tool within the range specified to the right (*1). View A View B A B You can select the desired height (indicated by a mark) when placing an order. Be sure to leave a space of 30 cm or more between the back of the robot and the wall or any other obstacle when you install the robot. Sufficient space is required for maintenance, repair and other work. Also do not block the ventilation opening (cooling fan) on the back of the robot. Doing so may cause overheating or unit malfunction. Specifications 12 Desktop Robot JR2000N Series

22 Installation JR2200N Series (Common) There are four rubber feet (φ30) on the bottom of the robot. To secure the robot on the work table, remove the rubber feet and use the four M8 screw holes for the rubber feet. Note that the dimensions inside the brackets are for reference only. These dimensions may vary depending on the models. (Rubber feet) Specifications 13 Desktop Robot JR2000N Series

23 JR2300N Series (Common) There are four rubber feet (φ27) on the bottom of the robot. To secure the robot on the work table, remove the rubber feet and use the spacers with a thickness of 20 mm or more (to clear the step on the bottom of the robot). Secure the robot using the four M8 screw holes for the rubber feet. (Rubber feet) Specifications 14 Desktop Robot JR2000N Series

24 JR2400N and JR2500N Series (Common) There are four rubber feet (φ27) on the bottom of the robot. To secure the robot on the work table, remove the rubber feet and use the spacers with a thickness of 20 mm or more (to clear the step on the bottom of the robot). Secure the robot using the four M8 screw holes for the rubber feet. (Rubber feet) Specifications 15 Desktop Robot JR2000N Series

25 2. ATTACHING EQUIPMENT There are two vertical grooves for M4 nuts on both right and left sides of the column and M4 screw holes (JR2200N: 8, JR2300N: 16, JR2400N and JR2500N: 12) on the base as shown in the illustrations below. Use the grooves and screw holes to attach the feeder, the tool controller, or the jig to the robot. See 1. EXTERNAL DIMENSIONS on how to attach the equipment. JR2200N Series (Eight) M4 Screw holes Two vertical grooves for M4 Nuts on both right and left sides. Specifications 16 Desktop Robot JR2000N Series

26 JR2300N Series (Sixteen) M4 Screw holes JR2400N Series and JR2500N Series (Twelve) M4 Screw holes Specifications 17 Desktop Robot JR2000N Series

27 3. I/O-SYS System functions have been assigned for I/O-SYS. Connector (JR2200N) I/O-SYS (JR2300N, JR2400N, and JR2500N) Pin No This illustration shows the pin connector on the robot. Specifications 18 Desktop Robot JR2000N Series

28 Function Assignment List The following functions have been pre-assigned to the I/O-SYS: Input Output Others Name Function Pin No. Color of Insulator Spiral Mark Ext #sysin1 Start 1 Black #sysin2 Free/Start Inhibition/Stop-Start Inhibition/ Soft Lock/Emergency Stop 2 White #sysin3 Program Number LOAD 3 Red #sysin4 Program Number bit0 2 0 =1 4 Green #sysin5 Program Number bit1 2 1 =2 5 Yellow #sysin6 Program Number bit2 2 2 =4 6 Brown #sysin7 Program Number bit3 2 3 =8 7 Blue #sysin8 Program Number bit4 2 4 =16 8 Gray #sysin9 Program Number bit5 2 5 =32 9 Orange #sysin10 Program Number bit6 2 6 =64 10 Pink #sysin11 Last Work/ Program Number bit7 2 7 = Light blue #sysin12 Temporary Stop 12 Purple #sysin13 Free 13 White Black #sysin14 Free/Start Inhibition/Stop-Start Inhibition/ Soft Lock/Emergency Stop 14 White Red #sysin15 Free 15 White Green #sysin16 Free 16 White Blue Ext #sysout1 Ready for Start 17 Black White #sysout2 Robot Stopping 18 Black Red #sysout3 Program Number ACK 19 Black Green #sysout4 Program Number Error 20 Black Blue #sysout5 Running 21 Red White #sysout6 Error 22 Red Black #sysout7 Emergency Stop 23 Red Green #sysout8 Position Error 24 Red Blue #sysout9 Free 25 Green White #sysout10 Free 26 Green Black #sysout11 Free 27 Green Red #sysout12 Free 28 Green Blue #sysout13 Free 29 Yellow White #sysout14 Free 30 Yellow Black #sysout15 Free 31 Yellow Red #sysout16 Free 32 Yellow Green No connection 33 Yellow Blue COM + DC24V 34 Brown White COM GND 35 Brown Black COM GND 36 Brown Red COM GND 37 Brown Green Ext: Activated only in the External Run Mode Specifications 19 Desktop Robot JR2000N Series

29 I/O-SYS Input/Output Functions Input Start (#sysin1): Turn on this signal to start or restart a program in the External Run Mode. This signal is also used to start mechanical initialization when turning the power on and to move the Robot Axes to the coordinates of the work home position. This signal is activated when the Ready for Start (#sysout1) signal is on. The #sysin1 Start signal will perform the mechanical initialization or start (restart) running programs when the IO-S input is on and the #sysin2 Start Inhibition signal is off in the External Run Mode, and in any of the following conditions: 1. The robot is ready for the mechanical initialization after the power is turned on. 2. The robot is ready for the mechanical initialization after the emergency stop has been released. 3. The robot is ready for starting a program at the work home position. 4. The robot is stopped by the temporary stop. 5. The robot is stopped and is standing by for restart at a wait start point. 6. The robot is standing by for restart by the waitstart command. To avoid malfunction caused by electric noise, the #sysin1 Start signal not longer than 20 msec is ignored. Set a pulse width of the #sysin1 Start signal 30 msec or wider, or we recommend you to set the #sysin1 Start signal to turn off by acknowledging the off signal of the #sysout1 Ready for Start, instead of setting more than 30 msec pulse. The #sysout1 Ready for Start signal will turn off if the #sysin1 Start signal is turned on. #sysin1 Start #sysout1 Ready for Start Free (#sysin2): The default for the #sysin2 signal is Free. This signal can be used as a free signal unless its function is changed in the [IO-SYS Function Assignment] in the [IO settings] menu ([Run Mode Parameter]). Specifications 20 Desktop Robot JR2000N Series

30 Start Inhibition (#sysin2): Setting the #sysin2 signal to [Start Inhibition] in the [IO-SYS Function Assignment] will disable the start. This signal works when it turns off. (Active-Low signal) When the #sysout2 Robot Stopping signal is on (the robot is stopped), the start will be disabled if this signal is turned off. The robot will not move if the #sysin1 Start signal turns on. This signal is invalid if the #sysout2 Robot Stopping signal is off (the robot is running). Stop-Start Inhibition (#sysin2): Setting the #sysin2 signal to [Stop-Start Inhibition] in the [IO-SYS Function Assignment] will stop the robot temporarily or disable the start. This signal works when it turns off. (Active-Low signal) When the #sysout2 Robot Stopping signal is on (the robot is stopped), the start will be disabled if this signal is turned off. The robot will not move if the #sysin1 Start signal turns on. Turning this signal off when the #sysout2 Robot Stopping signal is off will move the robot Axes to a PTP drive breakpoint and stop the robot temporarily. To restart, turn on this signal and the start signal in order. Soft Lock (#sysin2): Setting the #sysin2 signal to [Soft Lock] in the [IO-SYS Function Assignment] will disable the start or stop running immediately. This signal works when it turns off. (Active-Low signal) When the #sysout2 Robot Stopping signal is on (the robot is stopped), s the start will be disabled if this signal is turned off. The robot will not move if the #sysin1 Start signal turns on. Turning this signal off when the #sysout2 Robot Stopping signal is off will stop the robot immediately. Emergency Stop (#sysin2): Setting the #sysin2 signal to [Emergency Stop] in the [IO-SYS Function Assignment] will stop the robot immediately. This signal works when it turns off. (Active-Low signal) The robot will stop immediately if this signal turns off in the External Run Mode or the Switch Run Mode. Program Number LOAD: (#sysin3) Use this signal to load the program numbers. Turning this signal on will load the #sysin4 10 Program Number bit signals. This signal is valid when [Program Number Change] in the [Administration Settings Mode] menu is set to [I/O-SYS] and [Program Number Changing Way] in the [Run Mode Parameter] menu is set to [LOAD/ACK Handshake]. Specifications 21 Desktop Robot JR2000N Series

31 Program Number bit 0 6: (#sysin4 #sysin10) Turning on these signals will designate program numbers. For example, if you want to designate the program number 67, turn the #sysin10, #sysin5, and #sysin4 signals on. 67 = 64 (#sysin10) + 2 (#sysin5) + 1 (#sysin4) These signals are valid when [I/O-SYS] in the [Program Number Change] ([Administration Settings Mode] menu) is set to [Valid]. If [Program Number Changing Way] in the [Run Mode Parameter] menu is set to [Loading at Start], start the program after designating the program number using this signal. Last Work (#sysin11): If [Cycle Mode] is set to [Continuous Playback], the robot Axes will move to Point 01 after running the last point and repeat the operation. Setting the point job data that terminates the program or turning this signal on will stop the robot. This signal is valid only when the robot completes running the last point (before moving to Point 1). This signal cannot stop the robot in the middle of the program. Program Number bit 7: (#sysin11) The highest bit number of the #sysin4 #sysin10 Program Number bit 0 6 signals. Turn on this signal to designate the program number larger than 128. Temporary Stop (#sysin12): Turning on this signal will halt the program temporarily in the middle. This signal is invalid if the robot is running the CP points. It is valid only when the robot is running the PTP points. The start will be disabled if this signal is on. Free (#sysin14): The default for the #sysin14 signal is Free. This signal can be used as a free signal unless its function is changed in the [IO-SYS Function Assignment] in the [IO settings] menu ([Run Mode Parameter]). You can select its function from [Free], [Start Inhibition], [Stop-Start Inhibition], [Soft Lock], and [Emergency Stop] as well as the #sysin2 signal. Specifications 22 Desktop Robot JR2000N Series

32 Output Ready for Start (#sysout1): When #sysin1 Start signal is valid in the External Run Mode, this signal will turn on in the following cases: The robot is ready for the mechanical initialization after the power is turned on. The robot is ready for moving to the work home position. The robot is ready for starting running. The robot is stopped temporarily and is ready for restarting running. The #sysout1 Ready for Start signal will turn on when the IO-S input is on and the #sysin2 Start Inhibition signal is off in the External Run Mode, and in any of the following conditions: 1. The robot is ready for the mechanical initialization if the power is turned on. 2. The robot is ready for the mechanical initialization after the emergency stop has been released. 3. The robot is ready for starting a program at the work home position. 4. The robot is stopped by the temporary stop. 5. The robot is stopped and is standing by for restart at a wait start point. 6. The robot is standing by for restart by the waitstart command. If the #sysout5 Running is off, the robot s status is either the 1, 2, or 3. Signals cannot identify the robot s statuses 4, 5, and 6. Whenever the #sysout1 Ready for Start signal is on, the #sysout2 Robot Stopping is always on. However, the #sysout1 Ready for Start does not turn on when the robot is stopped and waits for a start signal. The #sysout2 Robot Stopping signal turns on instead. Robot Stopping (#sysout2): When the robot is stopped, this signal is on. When the robot is running, this signal is off. If this signal is on (the robot is stopped), the start will be disabled when the #sysin2 Soft Lock signal turns off. The robot will not move if the #sysin1 Start signal turns on. If this signal is off (the robot is running), the robot will stop immediately when the #sysin2 Soft Lock signal turns off. Program Number ACK: (#sysout3) This is the acknowledgement signal for the #sysin3 Program Number LOAD signal. When the #sysin3program Number LOAD signal turns on, the #sysin4 #sysin10 Program Number bit signals will be loaded and then this signal will turn on. This signal will turn off if the #sysin3program Number LOAD signal turns off. Specifications 23 Desktop Robot JR2000N Series

33 Program Number Error: (#sysout4) This signal turns on when the unregistered program number is selected in the Switch Run Mode and the External Run Mode. Running (#sysout5): This signal turns on when the robot starts running a program. This signal turns off when the robot finishes running a program. Error (#sysout6): This signal turns on when an error had occurred. Emergency Stop (#sysout7): This signal turns on when an emergency stop error has occurred. (e.g. The emergency stop button is pressed.) When this signal turns on, the #sysout6 Error signal turns on at the same time. Position Error (#sysout8): If [Position Error Check] in the [Other Parameter] menu ([Run Mode Parameter]) is set to [Valid], the position sensor will check the position error just before the robot finishes running (returns to the work home position.) This signal turns on if a position error is detected. OTHERS COM+ (DC24V): If the I/O-SYS Internal/External power selector switch is set to [EXT], connect the COM+ pin to the plus pole of the external power supply (DC24V). If the I/O-SYS Internal/External power selector switch is set to [IN], DC24V (+) will be output. Do not connect the COM+ pin to the external power supply when [I/O-SYS] is set to [Internal]. Doing so may cause unit malfunction. COM (GND): If the I/O-SYS Internal/External power selector switch is set to [EXT], connect the COM pin to the external grounding terminal. If the I/O-SYS Internal/External power selector switch is set to [IN], use the pin as a common ground. Specifications 24 Desktop Robot JR2000N Series

34 I/O-SYS Input Signal (Sink Input) Input signals are activated when the photo coupler is on. Internal Power Supply To activate the input signal, short circuit the input pins and COM- pin as shown below. Internal Power Supply 24V #sysin1 #sysin16 COM (GND) External Power Supply To activate the input signal, short circuit the input pins and the ground as shown below. External Power Supply 24V COM+ (DC24V) #sysin1 #sysin16 Specifications 25 Desktop Robot JR2000N Series

35 I/O-SYS Output Signal (Sink Output) Internal Power Supply Internal Power Supply 24V COM+ (DC24V) #sysout1 #sysout16 + External Device External Power Supply External Power Supply 24V #sysout1 #sysout16 + External Device COM (GND) I/O-SYS Output Capacity (Sink Output) For both the internal power supply and external power supply, use rated voltage not more than the following. 100mA for 1 pin (DC24V) For the internal power supply, use rated voltage not more than the following. DC24V, 1.6A (JR2200N series: Total of the I/O-SYS and I/O-1) DC24V, 2A (JR2300N, JR2400N, JR2500N series) Specifications 26 Desktop Robot JR2000N Series

36 I/O-SYS Circuit Diagram (Sink Input/Output) INPUT PIN No. OUTPUT PIN No #sysin1 #sysin2 #sysin3 #sysin #sysout1 #sysout2 #sysout3 #sysout4 #sysout5 #sysout #sysin5 #sysin6 #sysin7 #sysin #sysout7 #sysout8 #sysout9 #sysout10 #sysout #sysin9 #sysin10 #sysin11 #sysin #sysout12 #sysout13 #sysout14 #sysout15 #sysout #sysin13 #sysin COM- (GND) COM- (GND) COM- (GND) 24V #sysin15 #sysin16 Internal Power 33 N.C. External Power 34 COM+ (DC24V) GND Specifications 27 Desktop Robot JR2000N Series

37 I/O-SYS Input Signal (Source Input) Input signals are activated when the photo coupler is on. Internal Power Supply To activate the input signal, short circuit the input pins and the COM+ pin as shown below. Internal Power 24V COM+ (DC24V) #sysin11 #sysin16 External Power Supply To activate the input signal, short circuit the input pins and the external power source as shown below. External Power 24V #sysin11 #sysin16 COM (GND) Specifications 28 Desktop Robot JR2000N Series

38 I/O-SYS Output Signal (Source Output) Internal Power Supply Internal Power 24V #sysout1 #sysout16 + External Device COM (GND) External Power Supply External Power 24V COM+ (DC24V) #sysout1 #sysout16 + External Device I/O-SYS Output Capacity (Source Output) For both the internal power supply and external power supply, use rated voltage not more than the following. 100mA for 1 pin (DC24V) For the internal power supply, use rated voltage not more than the following. DC24V, 1.6A (JR2200N series: Total of the I/O-SYS and I/O-1) DC24V, 2A (JR2300N, JR2400N, JR2500N series) Specifications 29 Desktop Robot JR2000N Series

39 I/O-SYS Circuit Diagram (Source Input/Output) INPUT INPUT OUTPUT PIN PIN.No No. 1 #sysin1 PIN PIN.No No #sysout1 #sysout2 2 #sysin2 19 #sysout3 3 4 #sysin3 #sysin #sysout4 #sysout5 #sysout6 5 #sysin5 23 #sysout7 6 7 #sysin6 #sysin #sysout8 #sysout9 #sysout10 8 #sysin8 27 #sysout #sysin9 #sysin #sysout12 #sysout13 #sysout14 11 #sysin11 31 #sysout #sysin12 #sysin13 #sysin #sysout16 COM COM- (GND) COM- COM (GND) COM- COM (GND) (GND) 15 #sysin15 16 #sysin16 33 N.C. N.C. 24V External Power COM+ 34 COM+ (DC24V) (DC24V) Internal Power GND GND Specifications 30 Desktop Robot JR2000N Series

40 4. I/O-1 (OPTIONAL) Add the I/O-1 (optional) if you need extra ports for point jobs or the sequencer. Connector (JR2200N) Back of the Robot I/O-1 (JR2300N, JR2400N, and JR2500N) Pin No This illustration shows the pin connector on the robot. Specifications 31 Desktop Robot JR2000N Series

41 I/O-1 Function Assignment List Input Output Others Name Function Pin No. #genin1 Free 1 #genin2 Free 2 #genin3 Free 3 #genin4 Free 4 #genin5 Free 5 #genin6 Free 6 #genin7 Free 7 #genin8 Free 8 #genout1 Free 9, 10 #genout2 Free 11, 12 #genout3 Free 13, 14 #genout4 Free 15, 16 #genout5 Free 17 #genout6 Free 18 #genout7 Free 19 #genout8 Free 20 COM+ 24V Power Supply 21 COM 24V Power Supply 22 COM GND 23 COM GND 24 I/O-1 Cable Connection Pin No. Color of Color of Number Color of Color of Number Pin No. Insulator Mark of Marks Insulator Mark of Marks 1 Blue 14 Green White 1 2 Orange 15 Brown White 1 3 Green 16 Gray White 1 4 Brown 17 Red White 1 5 Gray 18 Black White 1 6 Red 19 Yellow Black 1 7 Black 20 Pink Black 1 8 Yellow 21 Purple White 1 9 Pink 22 White Blue 1 10 Purple 23 Blue Red 2 11 White 24 Orange White 2 12 Blue Red 1 25 Green White 2 13 Orange White 1 Specifications 32 Desktop Robot JR2000N Series

42 I/O-1 Output Capacity For both the internal power supply and external power supply, use rated voltage not more than the following: Type Rated Output I/O-1 (genout1 genout4) Relay DC30V, 1A/Pin I/O-1 (genout5 genout8) Photo Coupler DC24V, 100mA/Pin I/O-1 genout1 genout4 are relay outputs (no-voltage contact output). The external power supply (DC24V) is not included in the package. For the internal power supply, use rated voltage not more than the following: DC24V, 1.6A (JR2200N series: Total of the I/O-SYS and I/O-1) DC24V, 2A (JR2300N, JR2400N, JR2500N series) Specifications 33 Desktop Robot JR2000N Series

43 I/O-1 Input Signal (Sink Input) Input signals are activated when the photo coupler is on. Internal Power Supply To activate the input signal, short circuit the input pins and COM- pin as shown below. Internal Power Supply 24V #genin1 #genin8 COM (GND) External Power Supply To activate the input signal, short circuit the input pins and the ground as shown below. External Power Supply 24V COM+ (DC24V) #genin1 #genin8 Specifications 34 Desktop Robot JR2000N Series

44 I/O-1 Output Signal (Sink Output) Internal Power Supply Internal Power Supply 24V COM+ (DC24V) #genout5 #genout8 + External Device External Power Supply External Power Supply 24V #genout5 #genout8 + External Device COM (GND) Specifications 35 Desktop Robot JR2000N Series

45 I/O-1 Circuit Diagram (Sink Input/Output) INPUT INPUT OUTPUT PIN.No Pin No genin1 genin2 genin3 genin4 V5V PIN.No Pin No. GND59 genout1 10 genout1 11 genout2 12 genout2 13 genout3 14 genout3 15 genout4 16 genout4 5 genin5 17 genout5 6 7 genin6 genin genout6 genout7 20 genout8 8 genin8 24V External Power Internal Power COM COM- (GND) (GND) COM COM- (GND) 21 COM+ (DC24V) (DC24V) 22 COM+ COM+ (DC24V) Specifications 36 Desktop Robot JR2000N Series

46 I/O-1 Input Signal (Source Input) Input signals are activated when the photo coupler is on. Internal Power Supply To activate the input signal, short circuit the input pins and the COM+ pin as shown below. Internal Power 24V COM+ (DC24V) #genin1 #genin8 External Power Supply To activate the input signal, short circuit the input pins and the external power source as shown below. External Power 24V #genin1 #genin8 COM (GND) Specifications 37 Desktop Robot JR2000N Series

47 I/O-1 Output Signal (Source Output) Internal Power Supply Internal Power 24V #genout5 #genout8 + External Device COM (GND) External Power Supply External Power 24V COM+ (DC24V) #genout5 #genout8 + External Device Specifications 38 Desktop Robot JR2000N Series

48 I/O-1 Circuit Diagram (Sourse Input/Output) INPUT OUTPUT PIN.No Pin No. V5V PIN.No Pin No. 9 1 genin1 10 genout1 genout1 2 genin genout2 genout genin3 genin4 genin5 genin6 genin7 genin (GND)5genOut3 genout3 genout4 genout4 genout5 genout6 genout7 genout COM+ (DC24V) (DC24V) COM+ (DC24V) COM- COM (GND) COM COM- (GND) (GND) 24V Internal Power External Power GND Specifications 39 Desktop Robot JR2000N Series

49 5. I/O-S (CE SPECIFICATIONS) Connector (JR2200N) Back of the Robot I/O-S (JR2300N, JR2400N, and JR2500N) The I/O-S connector included in the package is necessary to operate the robot safely. Use the I/O-S connector after having read I/O-S Safety Circuit on Page 42 to secure the operator s safety. Connector type: SRCN6A13-3P (manufactured by Japan Aviation Electronics Industry, Ltd.) Specifications 40 Desktop Robot JR2000N Series

50 Pin No This illustration shows the pin connector on the robot. Pin No. Cable Color 1 White 3 White A person entering the robot s maximum operating range may be injured. Install an interlock that triggers an emergency stop when the gate is opened at the entry gate of the safety barrier, using the I/O-S connector. Specifications 41 Desktop Robot JR2000N Series

51 I/O-S Safety Circuit I/O-S is an interface to which a door switch or area sensor is connected. When the Operation Check Device is not Connected 24V 24V Shorted Connector I/O-S of the Robot V GND 24V GND EARTH EARTH Connector type: SRCN6A13-3P (manufactured by Japan Aviation Electronics Industry, Ltd.) When the Operation Check Device (e.g. Area Sensor) is Connected 24V 24V EARTH EARTH Area Sensor I/O-S of the Robot V GND EARTH EARTH Connector type: SRCN6A13-3P (manufactured by Japan Aviation Electronics Industry, Ltd.) Specifications 42 Desktop Robot JR2000N Series

52 6. COM1 3 Connector Back of the Robot (JR2200N) COM1 COM2 (Optional) COM3 (Optional) (JR2300N, JR2400N, and JR2500N) COM2 (Optional) COM3 (Optional) Pin No This illustration shows the pin connector on the robot. The pin alignments of COMs 1 3 are all the same. Specifications 43 Desktop Robot JR2000N Series

53 COM Connector Pin Connection Host: D-Sub 9 Connector COM1: RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 3 TxD Transmit Data 2 TxD Transmit Data 2 RxD Receive Data 8 RTS Request to Send 8 CTS Clear to Send 7 CTS Clear to Send 7 RTS Request to Send 5 GND Ground 5 GND Ground Connector: D-Sub 9 Pin Connector: D-Sub 9 Pin COM2 (Optional): RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 3 TxD Transmit Data 2 TxD Transmit Data 2 RxD Receive Data 8 RTS Request to Send 8 CTS Clear to Send 7 CTS Clear to Send 7 RTS Request to Send 5 GND Ground 5 GND Ground Connector: D-Sub 9 Pin Connector: D-Sub 9 Pin COM3 (Optional): RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 3 TxD Transmit Data 2 TxD Transmit Data 2 RxD Receive Data 5 GND Ground 5 GND Ground Connector: D-Sub 9 Pin Connector: D-Sub 9 Pin Specifications 44 Desktop Robot JR2000N Series

54 Host: DB-25 Connector COM1: RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 2 TxD Transmit Data 2 TxD Transmit Data 3 RxD Receive Data 8 RTS Request to Send 5 CTS Clear to Send 7 CTS Clear to Send 4 RTS Request to Send 5 GND Ground 7 GND Ground Connector: D-Sub 9 Pin Connector: DB-25 Pin COM2 (Optional): RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 2 TxD Transmit Data 2 TxD Transmit Data 3 RxD Receive Data 8 RTS Request to Send 5 CTS Clear to Send 7 CTS Clear to Send 4 RTS Request to Send 5 GND Ground 7 GND Ground Connector: D-Sub 9 Pin Connector: DB-25 Pin COM3 (Optional): RS232C Port Robot Host (PC) Pin No. Terminal Function Pin No. Terminal Function 3 RxD Receive Data 2 TxD Transmit Data 2 TxD Transmit Data 3 RxD Receive Data 5 GND Ground 7 GND Ground Connector: D-Sub 9 Pin Connector: DB-25 Pin Specifications 45 Desktop Robot JR2000N Series

55 7. TPU Connector Front of the Robot Teaching Pendant Connector (TPU) Pin No This illustration shows the pin connector on the robot. Specifications 46 Desktop Robot JR2000N Series

56 TPU (Teaching Pendant Connector) RS422 Interface Pin No. Terminal Name Function 1 FG Frame Ground 2 RD (+) Receive Data (+) 3 RD ( ) Receive Data(-) 4 SD (+) Transmit Data (+) 5 SD ( ) Transmit Data (-) 6 GND Communication Signal Ground 7 5V DC5V 13 GND DC24V Ground 17 ENSW11 Enable Switch Terminal 1* 18 ENSW12 Enable Switch Terminal 2* 19 EMGSW11 Emergency Stop Switch Contact Port 1 Terminal 1* 20 EMGSW12 Emergency Stop Switch Contact Port 1 Terminal 2* 21 EMGSW21 Emergency Stop Switch Contact Port 2 Terminal 1* 22 EMGSW22 Emergency Stop Switch Contact Port 2 Terminal 2* 23 EMGSW31 Emergency Stop Switch Contact Port 3 Terminal 1* 24 EMGSW32 Emergency Stop Switch Contact Port 3 Terminal 2* 25 24V DC24V *: If you have selected the teaching pendant that does not come with the enable switch (optional) at the time of purchase, Pin Nos. 17 and 18 on the robot have been shorted before shipment. If you have selected the teaching pendant that does not come with the emergency stop switch (optional) at the time of purchase, Pin Nos on the robot have been shorted before shipment. If you have selected the teaching pendant that does not come with the enable switch or the emergency stop switch at the time of purchase, Pin Nos. 17 and 18 or Pin Nos on the robot have been shorted before shipment. Therefore, if you purchase the teaching pendant with the enable switch or the emergency stop switch separately and connect it to the robot, a message [Wrong Teaching Pendant Type] will be displayed on the teaching pendant LCD and the robot will not start. Specifications 47 Desktop Robot JR2000N Series

57 TPU (Teaching Pendant Connector) Circuit Diagram Pin No. TP RX FG FG RD+ RD- TP TX 4 5 SD+ SD- 6 GN JP 19 ESW (Port) Safety Circuit JP JP JP Filter GND Emergency Stop Switch Enable Switch 7 5V (Optional) Robot Teaching Pendant Specifications 48 Desktop Robot JR2000N Series

58 8. SWITCH BOX CONNECTOR (CE SPECIFICATIONS) Connector The switch box connector is available for the CE specification models only. Front of the Robot Switch Box Connector Pin No This illustration shows the pin connector on the robot. Specifications 49 Desktop Robot JR2000N Series

59 Switch Box Connector Circuit Diagram 24V 4.7KΩ GND 1 2 Pin No Start input Function Emergency stop input to CPU Input to the power supply relay of the motor driver Emergency stop input circuit to CPU 3 4 Connect the emergency stop switch to between Pin Nos. 3 4 and Pin Nos Use a normal close switch. Motor driver power supply circuit 5 6 The output current of the photo coupler is not more than 100mA. Pins 8 9 are not connected Specifications 50 Desktop Robot JR2000N Series

60 9. COMMAND LIST If you assign point job data that includes any of the highlighted ( to a CP passing point, the commands will be ignored. ) commands Point Job Data Category Command Necessary Parameter Description ON/OFF Output Control if Branch, Wait Condition set Output destination Output ON. reset Output destination Output OFF. pulse Output destination, pulse length Output ON pulses of predetermined langth. invpulse Output destination, pulse length OutputOFF pulses of predetermined langth. delayset Output destination, Delay time Output ON after the predetermined delay time. delayreset Output destination, Delay time Output OFF after the predetermined delay time. onoffbz Time for ON, time for OFF Sound the buzzer on and off. onoffgled Time for ON, time for OFF Flash the green LED on the front of the robot. onoffrled Time for ON, time for OFF Flash the red LED on the fron to f the robot. dataout dataoutbcd Output value, destination, and width Output value, destination, and width Output numeric data or a tag code assigned to a point to the I/O. Output numeric data or a tag code assigned to a point to the I/O in BCD (binary-coded decimal). if Conditional branching then Perform if true. else Perform if false. endif End of conditional branching waitcondtime Time-out period Wait for conditions for a designated period. timeup Perofrm when time is up. endwait End of wait condition waitcond Wait for conditions. Specifications 51 Desktop Robot JR2000N Series

61 Category Command Necessary Parameter Description Condition Delay Pallet Execute Flow Control ld Boolean variable or expression Input ON. ldi Boolean variable or expression Input OFF. and Boolean variable or expression Input serial ON. ani Boolean variable or expression Input serial OFF. or Boolean variable or expression Input parallel ON. ori Boolean variable or expression Input parallel OFF. anb Serial connection of blocks orb Parallel connection of blocks delay Wait time Stop for a specified time. datain Assignment destination, read out Read out numeric data from the I/O. source, and read out width datainbcd Assignment destination, read out Read numeric data in BCD from the I/O. source, and read out width waitstart Wait for a start signal. waitstartbz Wait for a start signal while acknowledging an error with an alarm buzzer. looppallet Pallet number, destination number Pallet loop respallet Pallet number Reset the pallet counter. incpallet Pallet number Increase the pallet counter number. (+1) callbase Call a user-defined point job from a point to which a point job number is set. calljob Point job number Call a point job data subroutine specified by number. callpoints Point string identifier Perform a specified point string (defined in the Customizing mode). returnjob End of point job Terminate the function by assigning the value returnfunc Expression of the specified expression as a return value. (This command is valid in functions only.) callprog Program number Call a program subroutine specified by number. endprog End of program gopoint Drive condition number, pont number Jump to a specified point. gorpoint Drive condition number, Jump to a relatively-specified point. relative point number drive condition number, gocrpoint destination point selection jump Destination point number, Jump to a specified label. label number Label Label number Label Jump to a selected destination point while running in the CP drive. Specifications 52 Desktop Robot JR2000N Series

62 Category Command Necessary Parameter Description For, do-loop Move LCD Control for Control variable, initial value, end value, and step value next Repeats commands between for and next until the specified variable changes from the initial value to the end value. exitfor Break from for loop. do loop Repeat commands between do and loop. exitdo Break from do loop. upz Shifting distance and speed Z Up downz Shifting distance and speed Z Down movetoz Shifting distance and speed Z Move linemove Shifting (rotation) speed and distance of each Axis Make an Axis move a specified distance (relative distance) at a specified speed in the CP line drive. (Relative move command) Entering this command will display the specified shifting speed and distance of each Axis as follows: e.g. linemovespeed 20 linemovex 10 linemovey 20 linemovez 0 linemover 0 Terminate the movement of an Axis made by linemovestopif linemove if the conditions are met. endlinemove End of linemovestopif condition statements. initmec Return the specified Axis to its initial position. To specify an Axis (Perform the mechanical initialization). checkpos Detect a position error. clrlcd Clear the LCD display. clrlinelcd Row (1 13) Clear a specified line on the LCD display. outlcd Row (1 13), column (1 Display strings on the LCD display. 40), and string eoutlcd Row (1 13), Column (1 Display the result of the string expression on 40), and string expression the LCD display. Returns the 7 segment LED display changed sys7sled by out7sled to the previous program number. out7sled Display type and value 7 segment LED output Specifications 53 Desktop Robot JR2000N Series

63 Category Command Necessary Parameter Description COM Input/Output Variable, Comment, System Control Camera, Z Adjustment outcom Port, string Output the string from the COM. eoutcom Port, string expression Output the result of the string expression from the COM. setwtcom Port, wait time Set [Wait Time] (time-out period) for receiving data from the COM. incom Variable name, port, wait Assign the receive data from the COM to the time specified variable. cmpcom Port, string Compare the receive data and string. The result is entered into the system flags (sysflag(1) sysflag(20)). ecmpcom Port, string expression Compare the receive data and string expression. The result is entered into the system flags (sysflag(1) sysflag(20)). clrcom Port Clear the COM receive buffer. shiftcom Port, shift number Shift data received from the COM. Deletes data from the top by the specified [Shift Number]. stoppc Stop the PC communication of the COM1. startpc Start the PC communication of the COM1. declare Type, identifier Local variable declaration let Assignment expression Assign the l-value to the r-value. string The symbols +, -, *, /, =, (, ), & can be used. rem String One line comment crem String Comment at the end of a command line Change the program number. Do not carry out this command while the setprognum Program number robot is running. Use the command callprogram if you change the program to be run while the robot is running. setseqnum Sequencer number Change the sequencer number in the system data. Take an image with camera and calculate the camerawadj Work adjustment number offset from the data gained according to the [Workpiece Adjustment] setting. wcamerawadj Use this command when calculating offset by Work adjustment number, two camere images according to the [Workpiece Shot number Adjustment]. Take an image with camera and calculate cameratool Tool number [TCP-X] and [TCP-Y] from the data gained according to the [Point Tool Data Settings]. Take an image with camera and set the number camerapallet Pallet routine number of gained marks and the coordinates as the number and the coordinations of [Pallet Routine] to be performed. Calculate the Z offset from the data gained by takezwadj Work adjustment number the distance or touch-sensitive sensor according to the [Workpiece Adjustment] settings. Specifications 54 Desktop Robot JR2000N Series