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  5. Operation Manual

Janome JR2000N Series Operation Manual

Manual is about: desktop industrial robots

Summary of JR2000N Series

  • Page 1

    Janome scara/gantry robot js/jsr4400n/jsg series janome desktop robot jr2000n series operation manual features ii (variables/commands/functions) thank you for purchasing a janome robot. Z read this manual thoroughly in order to ensure proper use of this robot. Be sure to read “for your safety” befor...

  • Page 2: Contents

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot xxiii contents features ii for your safety ______________________________________________________________ i preface ____________________________________________________________________ xxi contents ___________________________...

  • Page 3

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot xxiv on/off output control _____________________________________________________ 36 output to i/o: set, reset, pulse, invpulse____________________________________________ 36 output after x seconds: delayset, delayreset_______...

  • Page 4

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot xxv linear movement in cp drive by point job: linemove, linemovestopif_____________________ 79 mechanical initialization by point job: initmec _______________________________________ 81 position error detection: checkpos_____...

  • Page 5: Expression Structure

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 1 expression structure expression an expression is fixed numbers (string type and numeric type), variables, functions, and operators combined. Fixed number there are two types of fixed numbers, numeric type (e.G. 125, 2.0, 2e...

  • Page 6

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 2 function a function returns a converted value if values or strings are given. You can use the built-in functions (which are built into the robot as a function) and the user-defined functions (which can be freely defined by ...

  • Page 7: Command List

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 3 command list point job data categor y command necessary parameter description set output destination output on. Reset output destination output off. Pulse output destination, pulse width output on pulses of predetermined le...

  • Page 8

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 4 categor y command necessary parameter description 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 express...

  • Page 9

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 5 categor y command necessary parameter description for variable name, initial value, end value, step value next – repeat commands between for and next until the specified variable changes from the initial value to the end va...

  • Page 10

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 6 categor y command necessary parameter description outcom input/output, output data output the string from the com. Eoutcom input/output, output data output the result of the string expression from the com. Setwtcom input/ou...

  • Page 11

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 7 execute condition categor y command necessary parameter description ld boolean variable or expression input on. Ldi boolean variable or expression input off. And boolean variable or expression input serial on. Ani boolean v...

  • Page 12: Variable List

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 8 variable list you can use the built-in variables (which are built into the robot as a function), and the user-defined variables (which can be freely defined by the user). User-defined variables other than local variables (v...

  • Page 13

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 9 variables category type identifier description num #downtimer1 – 10 the assigned value will be decreased automatically (by msec). Num #jobstarthight start a point job from a position above the z- coordinate determined by th...

  • Page 14

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 10 variables category type identifier description num #point_x x-coordinate value of the point currently performed num #point_y y-coordinate value of the point currently performed num #point_z z-coordinate value of the point ...

  • Page 15: Function List

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 11 function list you can use the built-in functions (which are built into the robot as a function) and the user-defined functions (which can be freely defined by the user). The user-defined functions are defined in the custom...

  • Page 16

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 12 x, y: numerical value or numerical variable n, m: numeric value becomes larger than a certain value through rounding or truncation a, b: string or string variable category type identifier description num abs (x) absolute v...

  • Page 17

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 13 x, y: numerical value or numerical variable n, m: numeric value becomes larger than a certain value through rounding or truncation a, b: string or string variable category type identifier description str str4fbe (x) regard...

  • Page 18: System Flag List

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 14 system flag list you can use the system flags as boolean valuables. If conditions are met, “1” (true) is automatically assigned to a system flag. If conditions are not met, “0” (false) is assigned. You can refer to the ass...

  • Page 19

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 15 no. Identifier description condition “1” (true) 60 #fstartsw start switch on (pressed) 61 #fincsw program number selection key (+) on (pressed) 62 #fdecsw program number selection key (–) on (pressed) 63 #femgsw emg direct...

  • Page 20

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 16 no. Identifier description condition “1” (true) 19 #fgtcom4 result of com4 receive data compare command (cmpcom) constant 20 #ftimeoutcom4 com4 receive data compare command (cmpcom) timeout timeout 30 #finitmecerror state ...

  • Page 21

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 17 no. Identifier description condition “1” (true) 11 #fiscom3 com3 receive data existence exists 12 #fltcom3 result of com3 receive data compare command (cmpcom) constant > receive data 13 #feqcom3 result of com3 receive dat...

  • Page 22: Variables

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 18 variables free variables: #mv, #mkv, #nv, #nkv, #sv, #skv a variable is a container into which numeric and strings values are placed. You can use the built-in variables listed below freely. Variable declaration is unnecess...

  • Page 23

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 19 input variables: #sysin1..., #genin1..., #handin1... An input variable is a boolean variable that can only be referred to. You cannot enter a value into it. It corresponds to the i/o-sys, i/o-1, and i/o-h input pins. When ...

  • Page 24

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 20 output variables: #sysout1..., #genout1..., #handout1... An output variable is a boolean variable. Output variables correspond to the i/o-sys, i/o-1, and i/o-h output pins. When an on signal is output, the output variables...

  • Page 25

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 21 down timer: #downtimer1 – #downtimer10 a numeric variable: the assigned value (using a let command) is decreased automatically (by msec). You can assign another value during the countdown. The maximum value that can be ass...

  • Page 26

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 22 point job start height: #jobstarthight when a value is assigned to the variable “#jobstarthight” (using a let command) and the variable is set as [job before moving] or [job while moving], the point job starts from a posit...

  • Page 27

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 23 pallet: #palletflag (1 – 100), #palletcount (1 – 100) #palletcount (1 – 100) is a numeric variable and #palletflag (1 – 100) is a boolean variable. Each variable retains the value of the corresponding pallet counter and pa...

  • Page 28

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 24 point job data set to p1 set #handout1 pick up workpiece. Point job data set to p2 if ld #palletcount(3) == 5 or #palletcount(3) == 11 else reset #handout1 endif looppallet 3,1 if #palletcount (3) is other than 5 (p2-5) an...

  • Page 29

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 25 workpiece adjustment: #workadj_x, #workadj_y, #workadj_z, #workadj_r, #workadj_rotation these numeric variables hold the adjustment amount and rotation adjustment amount of each axis in additional function data [workpiece ...

  • Page 30

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 26 point job data set in p2 ([workpiece adjustment] is set to this point.) set #handout1 start dispensing. Point job data set in p3 reset #handout1 stop dispensing. Z the [workpiece adjustment] set to a [cp start point] point...

  • Page 31: #point_R,#point_Tagcode

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 27 point coordinates: #point_x,#point_y,#point_z, #point_r,#point_tagcode these variables hold the coordinates and tag code values of the running point. A running point is the point to which point job data including this vari...

  • Page 32: #p_Tagcode

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 28 designated point coordinates: #p_x, #p_y, #p_z, #p_r, #p_tagcode these variables hold the coordinates and tag code values of the designated point in the current program. These variables hold the original coordinate values ...

  • Page 33: #prog_P_Tagcode

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 29 designated point coordinates in designated programs: #prog_p_x, #prog_p_y, #prog_p_z, #prog_p_r, #prog_p_tagcode these variables hold the coordinates and tag code values of the designated point in the designated program. T...

  • Page 34: Functions

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 30 functions robot system functions you can use the built-in variables (which are built into the robot system) and the user-defined variables (which can be freely defined by the user). The user-defined variables other than lo...

  • Page 35

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 31 • currentmainprognumber() this variable holds the currently performed main program number. • currentsubprognumber() this variable holds the currently performed subprogram number. When a subprogram is not being performed, i...

  • Page 36

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 32 • strplusrlcd(string a, string b) this variable adjusts the strings on the teaching pendant lcd (right priority). Items on the right are displayed in full if there is an overlap. • strplusllcd(string a, string b) this vari...

  • Page 37: Arithmetic System Functions

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 33 arithmetic system functions the following built-in arithmetic functions can be used: x, y : numeric value n, m : rounded integer value type identifier description num abs (x) absolute value num max (x,y) maximum value num ...

  • Page 38: String System Functions

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 34 string system functions the following string built-in functions can be used: x, y: numerical value or numerical variable n, m: numeric value becomes larger than a certain value through rounding or truncation a, b: string o...

  • Page 39

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 35 x, y: numerical value or numerical variable n, m: numeric value becomes larger than a certain value through rounding or truncation a, b: string or string variable type identifier description num valhex (a) regard a string ...

  • Page 40: On/off Output Control

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 36 jr2203n on/off output control output to i/o: set, reset, pulse, invpulse this section explains the commands to be output to the tool unit (i/o). These commands belong to the [on/off output control] command category. Comman...

  • Page 41

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 37 accordingly, • the hand tool opens. Å turn off #sysout15 and on #sysout16. • the hand tool closes. Å turn on #sysout15 and off #sysout16. The output commands to open and close the hand tool are as follows: reset #sysout15 ...

  • Page 42

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 38 z the pulse and invpulse commands move on to the next command before completing output. For example, the following two kinds of point job data have different results: pulse #genout1 100 pulse #genout2 200 set #genout3 set ...

  • Page 43

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 39 output after x seconds: delayset, delayreset the delayset and delayreset commands are used to output on/off signals to a designated output destination after a designated time. The delay time can be set 0.001sec – 9999.999s...

  • Page 44: Sound A Buzzer: Onoffbz

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 40 sound a buzzer: onoffbz you can sound a buzzer using a point job command. Command category command parameter job set output destination (bz) sound a buzzer. Reset output destination (bz) stop a buzzer. On/off output contro...

  • Page 45

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 41 blink the led (green): onoffgled z the commands below are available only for the jr2000n and jsr4400n series. The js and jsg series are not equipped with these commands. You can turn on and off, or blink the led light on t...

  • Page 46

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 42 blink the led (red): onoffrled z the commands below are available only for the jr2000n and jsr4400n series. The js and jsg series are not equipped with these commands. You can turn on and off, or blink the led light on the...

  • Page 47

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 43 ■ output values from i/o: dataout, dataoutbcd any numeric values 1 – 999,999,999 or tag codes can be output to the i/o or the boolean free variables #mv (1 – 99) and #mkv (1 – 99). Command category command parameter job da...

  • Page 48

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 44 ■ motor power on, servo motor on and off: motorpoweron, servoon, servooff z the commands below are available only for the js and jsgn series. The jr2000n series is not equipped with these commands. The jsr4400n series is e...

  • Page 49: If Branch, Wait Condition

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 45 if branch, wait condition if branch: if, then, else, endif this section explains the point job data commands for performing different jobs according to conditions. These belong to the [if branch, wait condition] command ca...

  • Page 50

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 46 example 2 if both #genin1 and #genin2 are on, sound a buzzer and stand by until the start instructions come. If both #genin1 and #genin2 are not on, advance to the next job. The example 2 above will be performed using the ...

  • Page 51

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 47 wait condition: waitcond, waitcondtime, timeup, endwait this section explains the point job data commands for waiting until the sensor (connected to #genin2) is turned on. These commands belong to the category [wait condit...

  • Page 52

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 48 z endwait and timeup cannot be used alone. Z for waitcondtime, the wait time can be set using variables and expressions. Example: declare num wtime if ld #genin3 then wtime = 3000 else wtime = 1000 endif waitcondtime wtime...

  • Page 53: Condition

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 49 condition ■ condition settings: ld, ldi, and, ani, or, ori, anb, orb this chapter explains the conditional operation commands that come after if branch and wait condition commands (if, waitcond, waitcondtime). The command ...

  • Page 54

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 50 ■ ld: on input waitcond ld #genin2 endwait wait in place until the following condition is met: #genin2=on (condition) end of condition line ■ ldi: off input waitcond ldi #genin2 endwait wait in place until the following co...

  • Page 55

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 51 ■ anb: block serial connection waitcond wait in place until the following conditions are met: ld count>=10 or flag count is 10 or greater or flag is on condition 1 ldi #genin1 ani #genin2 #genin1 is off and #genin2 is also...

  • Page 56: Time Delay: Delay

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 52 delay, data in, wait start ■ time delay: delay this section explains the point job data command for controlling time delay. Command category command parameter job delay, data in, wait start delay delay time stand by in pla...

  • Page 57

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 53 the delay time can be set using variables or expressions as well as numeric values. Example: declare num wtime if ld #genin1 then wtime = 100 else wtime = 200 endif set #genout1 delay wtime reset #genout1 declare the local...

  • Page 58

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 54 ■ waiting for a start signal: waitstart, waitstartbz this section explains the point job data commands to stop the robot until a start signal comes. Command category command parameter job waitstart – stand by in place unti...

  • Page 59

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 55 z if the waitcondtime, timeup … endwait and if … endif commands are combined, the command lines are indented as shown below. Waitcondtime 200 ld #genin2 timeup set genout2 if ld #genin1 then downz 20,20 waitcondtime 200 ld...

  • Page 60

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 56 ■ input from i/o: datain, datainbcd read out a numeric value from i/o or boolean variables #mv (1 – 99) or #mkv (1 – 99) and assign it to the specified variable. Command category command parameter job datain numeric variab...

  • Page 61: Pallet Control

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 57 pallet control ■ pallet command: looppallet, respallet, incpallet there are two types of additional function data [pallet routine]: one is [auto increment], which increases the counter automatically (the tool unit will mov...

  • Page 62

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 58 on the [increment by point job] pallet, the tool unit can move randomly, as shown on the previous page. For example, the tool unit returns to p1 each time before it moves to the next point. (p1 Æ p2 (p2-1) Æ p1 Æ p2-2 Æ p1...

  • Page 63

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 59 if the incpallet command (add 1 to the specified pallet counter) is used instead of the looppallet command, the pallet control command will be as follows: e.G. Incpallet is used instead of looppallet. Reset #genout1 incpal...

  • Page 64: Execution Flow Control

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 60 execution flow control ■ subroutine call for jobs according to point types: callbase if you set point job data to a point where the user-defined point type created in the customizing mode is already set, the point job set ...

  • Page 65

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 61 in this case, if you execute the callbase command in a newly added job, the original job set under the user-defined point type can be called as a subroutine and be performed. For the example on the previous page, if you ex...

  • Page 66

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 62 ■ subroutine call for point job data: calljob while performing a point job, another point job data can be called and executed as a subroutine. A point job can be clearer and easier if you create a specific job common to mu...

  • Page 67

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 63 z when the point job data called by the calljob command contains a calljob command, an error (no. 042: [job for calljob doesn't exist]) is returned if the nest level exceeds level 10. (the following example shows the nest ...

  • Page 68: End The Point Job: Returnjob

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 64 ■ end the point job: returnjob if a condition in the point job data is complex and there is no process to meet the condition, the point job can be ended by the returnjob command. Command category command parameter job exec...

  • Page 69

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 65 ■ subroutine call for a program: callprog while performing a point job, another program can be called and executed as a subroutine. Command category command parameter job execute flow control callprog program number call t...

  • Page 70

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 66 program numbers can also be given using expressions. Example: declare num eprg waitcondtime 200 ld #genin1 timeup if ld #genin2 then eprg = 9 else eprg = 10 endif callprog eprg endwait declare a local variable eprg. Wait f...

  • Page 71

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 67 example: the subprogram is set to [absolute]. The tool unit runs on the coordinates of point data of the called point regardless of the position of the calling point. At the current point (calling point), the tool unit per...

  • Page 72

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 68 depending on the position data settings, the next point coordinates vary even if the position data values are the same. (see below) position data value (0,0) (15,20) (10,20) (5,10) p1 p2 p3 p4 p5 absolute (10,10) (0,0) (15...

  • Page 73

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 69 ■ subroutine call for a point string: callpoints a point string (also referred to as an array of points or series of points, defined in the customizing mode) with an identifier can be called and executed as a subroutine. C...

  • Page 74: End A Program: Endprog

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 70 ■ end a program: endprog a program (operation) can be terminated at the current point by the endprog command. The robot arm or axis will not return to the work home position command category command parameter job execute f...

  • Page 75

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 71 ■ assigning the returned value of a function: returnfunc assign the value of the specified expression as a returned value and end the function. Command category command parameter job execute flow control returnfunc return ...

  • Page 76: Gopoint, Gorpoint, Gocrpoint

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 72 ■ jump to the specified point: gopoint, gorpoint, gocrpoint the following explains how to jump to a specified point after carrying out a point job instead of going to the next point. Command category command parameter job ...

  • Page 77

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 73 example [gopoint ptp3,25]: jump to point 25 (according to ptp condition 03). If you set [0] as the [ptp condition number], the tool unit will move according to the program data [ptp condition]. If you set [0] as the [point...

  • Page 78

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 74 ■ jumping to a specified command line: jump, label command category command parameter job jump label number jump to the specified label number. Execute flow control label label number destination mark for the jump command ...

  • Page 79: For, Do-Loop

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 75 for, do-loop ■ for, do-loop : for, next, exitfor, do, loop, exitdo command category command parameter job for variable name, initial value, end value, step value next – repeats commands between for and next until the speci...

  • Page 80

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 76 the for command parameters: initial value, end value and step value, can be given using variables or expressions. Declare num loop declare num ival if ld #genin1 then loop = 5 else loop = 10 endif for ival=1 to loop step 1...

  • Page 81: Move

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 77 move ■ move the z-axis alone: upz, downz, movetoz only the z-axis can be raised or lowered using point job data. These commands belong to the [move] command category. Command category command parameter job upz distance, sp...

  • Page 82

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 78 the distance and speed can be given by variables and expressions. Waitcond ld #genin2 endwait downz #p_z(1)-#point_z,20 wait in place until the following condition is met: #genin2=on (condition) end of condition lower or r...

  • Page 83: Linemovestopif

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 79 ■ linear movement in cp drive by point job: linemove, linemovestopif the robot axis or arm can move linearly in the cp drive using point job data commands. The moving speed (referred to as cp speed) and the moving amount i...

  • Page 84

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 80 ■ how to stop the movement in the middle of the cp drive using conditions example: linemovespeed 3 linemovex 20 linemovey 0 linemovez 0 linemover 0 linemovestopif ld #sysin1 endlinemove calljob11 if #sysin1 comes on, the r...

  • Page 85

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 81 ■ mechanical initialization by point job: initmec z the command explained below is available for the jr2000n and jsr4400n series only. It is not available for the js and jsg series. If you are using the jsr4400n series, th...

  • Page 86

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 82 ■ position error detection: checkpos z the command explained below is available for the jr2000n series only. It is not available for the jsr4400n, js, and jsg series. Position errors can be detected using point job command...

  • Page 87: Lcd, 7Sled

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 83 lcd, 7sled ■ display the specified strings on the teaching pendant: clrlcd, clrlinelcd, outlcd, eoutlcd the following explains how to display/not display entered items on the teaching pendant lcd. Command category command ...

  • Page 88: Out7Sled

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 84 ■ display the desired number on the 7sled: sys7sled, out7sled z the command explained below is available for the jr2000n and jsr4400n series only. It is not available for the js and jsg series. Using the out7sled command, ...

  • Page 89: Com Input/output

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 85 com input/output ■ com input/output: outcom, eoutcom, incom, setwtcom, cmpcom, ecmpcom, clrcom, shiftcom by point job data commands, data can be input or output from com. Command category command parameter job outcom input...

  • Page 90

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 86 for the eoutcom command, characters can be specified in hexadecimal code using the % symbol (see e.G.3) however, if any character other than 0 – 9, a – f, or % comes after the % symbol, the % symbol is output as a characte...

  • Page 91

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 87 cmpcom(1) specified receive character buffer xth character : xth character wait time* (timeout period) x = x+1 x: specified number of characters turn sysflag(3) on. Turn sysflag(5) on. >: turn sysflag(2) on. ＝ ＞ ≦ go to th...

  • Page 92

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 88 ■ com receive wait time settings: setwtcom you can set the wait time (timeout period) for receiving data for the cmpcom or ecmpcom commands. If no data is received within the specified wait time, it will time out and the c...

  • Page 93

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 89 ■ pc communication: stoppc, startpc ■ stopping and starting com1 communication: stoppc, startpc com1 is normally used to communicate with a pc. If you wish to connect com1 to devices to control the robot using point job co...

  • Page 94

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 90 variable, comment, system control ■ variable declaration and assignment: declare, let a variable that is activated only in point job data containing a declare command and a user-defined function (defined in the customizing...

  • Page 95

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 91 both of the following point job data items use a local variable count, but the two variables do not interfere with each other since a local variable is activated only in point job data containing a declare command. For exa...

  • Page 96: Comment Insertion: Rem, Crem

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 92 ■ comment insertion: rem, crem you can add comments to point job data and sequencer data commands. Command category command parameters job rem output data 1 line comment variable, comment, system control crem output data e...

  • Page 97

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 93 ■ change a program number by point job: setprognum the program number being selected can be changed using point job data commands. This function is useful in the following cases: • if you set a setprognum command to the po...

  • Page 98

    Features ii js/jsr4400n scara robot jsg gantry robot jr2000n desktop robot 94 ■ change a sequencer number by point job: setseqnum the selected sequencer number can be changed using point job data commands. A complicated sequencer data set cannot be created because the number of commands for sequence...

  • Page 99: Postal Code: 193-0941

    Janome sewing machine co., ltd. Industrial equipment sales department postal code: 193-0941 1463 hazama-machi, hachioji-shi, tokyo, japan tel: +81-42-661-6301 fax: +81-42-661-6302 the specifications of the robot or the contents of this manual may be modified without prior notice to improve its quali...