IJ 2000 Series (IJ-2400N-4)

JANOME DESKTOP ROBOT
JR2000N Series
Operation Manual
Specifications
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 before you use the robot. The information will
help you protect yourself and others from possible dangers during operation.
z After having read this manual, keep it in a handy place so that you or the
operator can refer to it whenever necessary.
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.
The Warning symbol indicates the possibility of death or serious

Warning injury.
The Caution symbol indicates the possibility of accidental injury or

Caution 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

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 robots 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

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

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

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.
Explains how to set up the robot.

Setup Be sure to read this manual before you operate the robot.
Maintenance Explains maintenance procedures for the robot.
Provides part names, data structures, and the basic knowledge necessary
Basic Instructions to operate the robot.
Be sure to read this manual before you operate the robot.
Quick Start Explains the actual operation of the robot with simple running samples.
Teaching Pendant
Explains how to operate the robot via the teaching pendant.
Operation
Explains how to operate the robot from a computer (using the
PC Operation
JR C-Points software.)
Features I Explains point teaching.
Features II Explains commands, variables, and functions.
Features III Explains features such as run mode parameters, sequencer programs, etc.
Features IV Explains features in the Customizing mode.
External Control I
Explains the I/O-SYS control.
(I/O-SYS)
External Control II
(COM Explains the COM communication control system (COM1 COM3).
Communication)
Provides comprehensive specifications, including mechanical or electrical
Specifications
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

CONTENTS
Specifications
FOR YOUR SAFETY ______________________________________________________________ i

PREFACE_______________________________________________________________________v
CONTENTS ____________________________________________________________________ vi
1. EXTERNAL DIMENSIONS _____________________________________________________ 1

Installation___________________________________________________________________ 13
2. ATTACHING EQUIPMENT ____________________________________________________ 16
3. 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) ______________________________________ 30
4. 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

I/O-1 Input Signal (Source Input)__________________________________________________ 37
I/O-1 Output Signal (Source Output) _______________________________________________ 38
I/O-1 Circuit Diagram (Sourse Input/Output) _________________________________________ 39
5. I/O-S (CE SPECIFICATIONS) __________________________________________________ 40

Connector ___________________________________________________________________ 40
Pin No. _____________________________________________________________________ 41
I/O-S Safety Circuit ____________________________________________________________ 42
6. COM1 3 _________________________________________________________________ 43
Connector ___________________________________________________________________ 43
Pin No. _____________________________________________________________________ 43
COM Connector Pin Connection__________________________________________________ 44
7. TPU ______________________________________________________________________ 46
Connector ___________________________________________________________________ 46
Pin No. _____________________________________________________________________ 46
TPU (Teaching Pendant Connector) _______________________________________________ 47
TPU (Teaching Pendant Connector) Circuit Diagram __________________________________ 48
8. SWITCH BOX CONNECTOR (CE SPECIFICATIONS) ______________________________ 49
Connector ___________________________________________________________________ 49
Pin No. _____________________________________________________________________ 49
Switch Box Connector Circuit Diagram _____________________________________________ 50
9. COMMAND LIST ____________________________________________________________ 51
10. VARIABLE LIST ____________________________________________________________ 56
11. FUNCTION LIST ___________________________________________________________ 59
12. SYSTEM FLAG LIST ________________________________________________________ 62
13. ERROR MESSAGE LIST ____________________________________________________ 64
14. SPECIFICATIONS __________________________________________________________ 70
Specifications vii Desktop Robot JR2000N Series

MEMO
Specifications viii Desktop Robot JR2000N Series

1. EXTERNAL DIMENSIONS
JR2202N
View A
z 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

JR2203N
View A
View B

JR2204N
Attach the tool within
(*1)
the range specified
to the right (*1).
View A
View B

JR2302N
View A

JR2303N
View A
View B
A
B

JR2304N
(*1)
Attach the tool within
the range specified
to the right (*1).
View A
View B
A
B

JR2402N
View A
A
125

JR2403N
View A
View B

JR2404N
Attach the tool

within the range
(*1)
specified to the
right (*1).
View A
View B

JR2502N
View A

JR2503N
View A
View B
B
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.

JR2504N
Attach the tool

within the range
(*1)
specified to the
right (*1).
View A
View B
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.

Installation
JR2200N Series (Common)
There are four rubber feet (30) 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)

JR2300N Series (Common)
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)

JR2400N and JR2500N Series (Common)
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)

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.

JR2300N Series
(Sixteen) M4 Screw holes
JR2400N Series and

JR2500N Series
(Twelve) M4 Screw holes

3. I/O-SYS
System functions have been assigned for I/O-SYS.
Connector
(JR2200N)
I/O-SYS
(JR2300N, JR2400N, and JR2500N)
Pin No.
19 1
37 20
z This illustration shows the pin connector on the robot.

Function Assignment List
The following functions have been pre-assigned to the I/O-SYS:
Color of
Name Function Pin No. Spiral Mark
Insulator
Ext #sysIn1 Start 1 Black
Free/Start Inhibition/Stop-Start Inhibition/
#sysIn2 2 White
Soft Lock/Emergency Stop
#sysIn3 Program Number LOAD 3 Red
#sysIn4 Program Number bit0 20=1 4 Green
#sysIn5 Program Number bit1 21=2 5 Yellow
#sysIn6 Program Number bit2 22=4 6 Brown
#sysIn7 Program Number bit3 23=8 7 Blue
#sysIn8 Program Number bit4 24=16 8 Gray
Input
#sysIn9 Program Number bit5 25=32 9 Orange

#sysIn10 Program Number bit6 26=64 10 Pink
Last Work/
#sysIn11 11 Light blue
Program Number bit7 27=128
#sysIn12 Temporary Stop 12 Purple
#sysIn13 Free 13 White Black
Free/Start Inhibition/Stop-Start Inhibition/
#sysIn14 14 White Red
Soft Lock/Emergency Stop
#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
Output
#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
Others
COM GND 35 Brown Black

COM GND 36 Brown Red
COM GND 37 Brown Green
Ext: Activated only in the External Run Mode

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]).

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: Use this signal to load the program numbers. Turning this signal on will
(#sysIn3) 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].

Program Number bit 0 6: Turning on these signals will designate program numbers.
(#sysIn4 #sysIn10) 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: The highest bit number of the #sysIn4 #sysIn10 Program Number bit
(#sysIn11) 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.

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 robots status is either the 1, 2, or 3.

Signals cannot identify the robots 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: This is the acknowledgement signal for the #sysIn3 Program Number
(#sysOut3) 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.

Program Number Error: This signal turns on when the unregistered program number is
(#sysOut4) 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.

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
2.4K #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)
2.4K
#sysIn1
#sysIn16

I/O-SYS Output Signal (Sink Output)

COM+
(DC24V)
+ External
#sysOut1
Device
#sysOut16
#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)

I/O-SYS Circuit Diagram (Sink Input/Output)
INPUT OUTPUT
PIN No. PIN No.
2.4K
17 #sysOut1
1 #sysIn1
2.4K 18 #sysOut2
2 #sysIn2
19 #sysOut3
2.4K
#sysIn3 20 #sysOut4
3
2.4K
21 #sysOut5
4 #sysIn4
2.4K 22 #sysOut6
5 #sysIn5
23 #sysOut7
2.4K
6 #sysIn6 24 #sysOut8
2.4K
25 #sysOut9
7 #sysIn7
2.4K 26 #sysOut10
8 #sysIn8
27 #sysOut11
2.4K
2.4K
29 #sysOut13
10 #sysIn10
2.4K 30 #sysOut14
11 #sysIn11
31 #sysOut15
2.4K
2.4K
35 COM-
13 #sysIn13 (GND)
2.4K 36 COM-
(GND)
14 #sysIn14
37 COM-
2.4K (GND)
15 #sysIn15
2.4K
16 #sysIn16
24V
Internal Power 33 N.C.
External Power
34 COM+
(DC24V)
GND

I/O-SYS Input Signal (Source Input)

To activate the input signal, short circuit the input pins and the COM+ pin as shown below.
Internal Power 24V
COM+
(DC24V)
#sysIn11
#sysIn16
2.4K

To activate the input signal, short circuit the input pins and the external power source as shown below.
External Power 24V
#sysIn11
#sysIn16
2.4K
COM
(GND)

I/O-SYS Output Signal (Source Output)
Internal Power 24V
#sysOut1
#sysOut16
+ External
Device
COM
(GND)

External Power 24V
COM+
(DC24V)
+ External
#sysOut1
#sysOut16 Device
I/O-SYS Output Capacity (Source Output)
following.
100mA for 1 pin (DC24V)
For the internal power supply, use rated voltage not more than the following.

I/O-SYS Circuit Diagram (Source Input/Output)
INPUT OUTPUT
INPUT OUTPUT
PIN No.
PIN.No PIN No.
PIN.No
17 #sysOut1
1 #sysIn1
2.4K
18 #sysOut2
2 #sysIn2 #sysOut3
2.4K 19
2.4K
21 #sysOut5
4 #sysIn4
2.4K
22 #sysOut6
2.4K
2.4K
25 #sysOut9
7 #sysIn7
2.4K
26 #sysOut10
8 #sysIn8
2.4K 27 #sysOut11
2.4K
29 #sysOut13
2.4K
10 #sysIn10
30 #sysOut14
2.4K
2.4K
35 COM-
COM
(GND)
(GND)
2.4K
13 #sysIn13
COM
36 COM-
(GND)
(GND)
14
2.4K
#sysIn14 37 COM-
COM
(GND)
(GND)
2.4K
15 #sysIn15
16
2.4K #sysIn16
N.C.
33 N.C.
COM+
34 COM+
(DC24V)
(DC24V)
24V
External Power
Internal Power GND

GND

4. I/O-1 (OPTIONAL)
Add the I/O-1 (optional) if you need extra ports for point jobs or the sequencer.
Connector
Back of the Robot
(JR2200N)
I/O-1
(JR2300N, JR2400N, and JR2500N)
Pin No.
1 13
14 25

I/O-1 Function Assignment List
Name Function Pin No.

#genIn1 Free 1
#genIn2 Free 2
#genIn3 Free 3
#genIn4 Free 4
Input
#genIn5 Free 5
#genIn6 Free 6
#genIn7 Free 7
#genIn8 Free 8
#genOut1 Free 9, 10
#genOut2 Free 11, 12
Output

#genOut5 Free 17
#genOut6 Free 18
#genOut7 Free 19
#genOut8 Free 20
COM+ 24V Power Supply 21
Others
COM 24V Power Supply 22

COM GND 23
COM GND 24
I/O-1 Cable Connection
Color of Color of Number Color of Color of Number

Pin No. 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

I/O-1 Output Capacity
following:
Type Rated Output

I/O-1 (genOut1 genOut4) Relay DC30V, 1A/Pin
I/O-1 (genOut5 genOut8) Photo Coupler DC24V, 100mA/Pin
z I/O-1 genOut1 genOut4 are relay outputs (no-voltage contact output).

z The external power supply (DC24V) is not included in the package.
z For the internal power supply, use rated voltage not more than the following:

I/O-1 Input Signal (Sink Input)

To activate the input signal, short circuit the input pins and COM- pin as shown below.
2.4K #genIn1
#genIn8
COM
(GND)

To activate the input signal, short circuit the input pins and the ground as shown below.
COM+
(DC24V)
2.4K
#genIn1
#genIn8

I/O-1 Output Signal (Sink Output)

COM+
(DC24V)
+ External
#genOut5
Device
#genOut8
#genOut5
#genOut8 + External
Device
COM
(GND)

I/O-1 Circuit Diagram (Sink Input/Output)
INPUT
INPUT OUTPUT
OUTPUT
5
V
Pin No. 5V Pin No.
PIN.No PIN.No
2.4K
2.4K
9 genOut1
1 genIn1 10 genOut1
2.4K
2.4K
11 genOut2
2 genIn2 12 genOut2
2.4K
2.4K
13 genOut3
3 genIn3 14 genOut3
2.4K
2.4K
15 genOut4
4 genIn4
16 genOut4
2.4K
2.4K
5 genIn5
17 genOut5
2.4K
2.4K
6 genIn6 18 genOut6
2.4K
2.4K
19 genOut7
7 genIn7
2.4K
2.4K 20 genOut8
8 genIn8
24V COM
23 COM-
(GND)
(GND)
Internal Power COM
24 COM-
(GND)
(GND)
External Power
COM+
COM+
GND
21 (DC24V)
(DC24V)
22 COM+
COM+
(DC24V)
(DC24V)

I/O-1 Input Signal (Source Input)

To activate the input signal, short circuit the input pins and the COM+ pin as shown below.
Internal Power 24V
COM+
(DC24V)
#genIn1
#genIn8
2.4K

To activate the input signal, short circuit the input pins and the external power source as shown below.
External Power 24V
#genIn1
#genIn8
2.4K
COM
(GND)

I/O-1 Output Signal (Source Output)
Internal Power 24V
#genOut5
#genOut8
+ External
Device
COM
(GND)

External Power 24V
COM+
(DC24V)
+ External
#genOut5
#genOut8 Device

I/O-1 Circuit Diagram (Sourse Input/Output)
INPUT
INPUT OUTPUT
OUTPUT
5
V
Pin No. 5V Pin No.
PIN.No PIN.No
1 genIn1 9 genOut1
2.4K
2.4K 10 genOut1
2 genIn2 genOut2
11
2.4K
2.4K
12 genOut2
3 genIn3
2.4K 13 genOut3
2.4K
14 genOut3
4 genIn4
2.4K
2.4K 15 genOut4
16 genOut4
5 genIn5
2.4K
2.4K
17 genOut5
6 genIn6
2.4K
2.4K genOut6
18
7 genIn7
19 genOut7
2.4K
2.4K
genIn8 20 genOut8
8
2.4K
2.4K
COM
23 COM-
COM+
COM+ (GND)
(GND)
21 (DC24V)
(DC24V) COM
24 COM-
(GND)
(GND)
22 COM+
COM+
(DC24V)
(DC24V)
24V
Internal Power
External Power
GND
GND

5. I/O-S (CE SPECIFICATIONS)
Connector
Back of the Robot
(JR2200N)
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
operators safety.
Connector type: SRCN6A13-3P (manufactured by Japan Aviation Electronics Industry, Ltd.)

Pin No.
2 1
Pin No. Cable Color

1 White
3 White
A person entering the robots 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.

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

Shorted I/O-S of
Connector the Robot

24V GND
24V GND EARTH
EARTH
When the Operation Check Device (e.g. Area Sensor) is Connected
24V

Area I/O-S of
Sensor the Robot

EARTH
24V GND
24V GND EARTH
EARTH

6. COM1 3
Connector
Back of the Robot
(JR2200N) COM2
COM1 (Optional)
COM3
(Optional)
(JR2300N, JR2400N, and JR2500N)

COM2
(Optional)
COM3
(Optional)
Pin No.
1 5
6 9

z The pin alignments of COMs 1 3 are all the same.

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)

Robot Host (PC)

Host: DB-25 Connector
COM1: RS232C Port

Robot Host (PC)
Connector: D-Sub 9 Pin Connector: DB-25 Pin

Robot Host (PC)

Robot Host (PC)

7. TPU
Connector
Front of the Robot
Teaching Pendant Connector

(TPU)
Pin No.
13 1
25 14

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*
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. 19 24 on the robot have been shorted before
shipment.
z 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. 19 24 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.

TPU (Teaching Pendant Connector) Circuit Diagram
Pin No.
1 FG
FG
2 RD+
TP RX
3 RD-
4 SD+
TP TX
5 SD-
6 GN
JP 19
Stop Switch
Emergency
20
Safety
Circuit JP 21
22
JP 23
24
ESW 25
(Port)
Enable Switch
17
Filter
JP
18
13 GND
7 5V (Optional)
Robot Teaching Pendant

8. SWITCH BOX CONNECTOR
(CE SPECIFICATIONS)
Connector
z The switch box connector is available for the CE specification models only.
Front of the Robot
Switch Box Connector
Pin No.
1 5
6 9

Switch Box Connector Circuit Diagram
4.7K
Pin No. Function

1
Start input
2
3
Emergency stop input to CPU
4
5 Input to the power supply relay of
6 the motor driver
GND
Emergency stop Connect the emergency stop switch to between

input circuit to Pin Nos. 3 4 and Pin Nos. 5 6. Use a
CPU normal close switch.
Motor driver The output current of the photo coupler is not

power supply more than 100mA.
circuit Pins 8 9 are not connected.

9. COMMAND LIST
If you assign point job data that includes any of the highlighted ( ) commands
to a CP passing point, the commands will be ignored.
Point Job Data

Category
Command Necessary Parameter Description
set Output destination Output ON.

reset Output destination Output OFF.
Output destination,
pulse Output ON pulses of predetermined langth.
pulse length
Output destination,
invPulse OutputOFF pulses of predetermined langth.
pulse length
ON/OFF Output Control
Output destination,
delaySet Output ON after the predetermined delay time.
Delay time
Output destination,
delayReset Output OFF after the predetermined delay time.
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.
Output value, destination, and Output numeric data or a tag code assigned to
dataOut a point to the I/O.
width
Output numeric data or a tag code assigned to
Output value, destination, and
dataOutBCD a point to the I/O in BCD (binary-coded
width decimal).
if Conditional branching
if Branch, Wait Condition
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.

Category
ld Boolean variable or expression Input ON.

ldi Boolean variable or expression Input OFF.
and Boolean variable or expression Input serial ON.
Condition
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.
Assignment destination, read out
dataIn Read out numeric data from the I/O.
source, and read out width
Delay
Assignment destination, read out

dataInBCD Read numeric data in BCD from the I/O.
source, and read out width
waitStart Wait for a start signal.
Wait for a start signal while acknowledging
waitStartBZ
an error with an alarm buzzer.
Pallet number,
loopPallet Pallet loop
destination number
Pallet
resPallet Pallet number Reset the pallet counter.

incPallet Pallet number Increase the pallet counter number. (+1)
Call a user-defined point job from a point to
callBase
which a point job number is set.
Call a point job data subroutine specified by
callJob Point job number
number.
Perform a specified point string (defined in
callPoints Point string identifier
the Customizing mode).
returnJob End of point job
Terminate the function by assigning the value
Execute Flow Control
returnFunc Expression of the specified expression as a return value.

(This command is valid in functions only.)
Call a program subroutine specified by
callProg Program number
number.
endProg End of program
Drive condition number,
goPoint Jump to a specified point.
pont number
Drive condition number,
goRPoint Jump to a relatively-specified point.
relative point number
drive condition number, Jump to a selected destination point while
goCRPoint
destination point selection running in the CP drive.
jump Destination point number,
Jump to a specified label.
label number
Label Label number Label

Category
Control variable, initial value, Repeats commands between for and next
for
end value, and step value until the specified variable changes from the
For, do-loop
next initial value to the end value.

exitFor Break from for loop.
do
Repeat commands between do and loop.
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
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
Shifting (rotation) speed and
lineMove Axis as follows:
distance of each Axis
e.g. lineMoveSpeed 20
Move
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.
Row (1 13), column (1
outLCD Display strings on the LCD display.
LCD Control
40), and string

Row (1 13), Column (1 Display the result of the string expression on
eoutLCD
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

Category
outCOM Port, string Output the string from the COM.

Output the result of the string expression from
eoutCOM Port, string expression
the COM.
Set [Wait Time] (time-out period) for receiving
setWTCOM Port, wait time
data from the COM.
Variable name, port, wait Assign the receive data from the COM to the
inCOM
time specified variable.
COM Input/Output
Compare the receive data and string.

cmpCOM Port, string The result is entered into the system flags
(sysFlag(1) sysFlag(20)).
Compare the receive data and string expression.
ecmpCOM Port, string expression The result is entered into the system flags
(sysFlag(1) sysFlag(20)).
clrCOM Port Clear the COM receive buffer.
Shift data received from the COM.
shiftCOM Port, shift number 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
Variable, Comment, System Control
Assignment expression Assign the l-value to the r-value.

let
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.
z 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.
Change the sequencer number in the system
setSeqNum Sequencer number
data.
Take an image with camera and calculate the
cameraWadj Work adjustment number offset from the data gained according to the
[Workpiece Adjustment] setting.
Use this command when calculating offset by
Work adjustment number,
wCameraWadj two camere images according to the [Workpiece
Camera, Z Adjustment
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
of gained marks and the coordinates as the
cameraPallet Pallet routine number
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.

Execute Condition
Category
ld Boolean variable or expression Input ON.

ldi Boolean variable or expression Input OFF.
and Boolean variable or expression Input serial ON.
Condition
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
Sequencer
Category
ld Boolean variable Input ON.

ldi Boolean variable Input OFF.
Calculate
and Boolean variable Input serial ON.

ani Boolean variable Input serial OFF.
or Boolean variable Input parallel ON.
ori Boolean variable Input parallel OFF.
out Output destination Coil drive
set Output destination Set the coil drive hold command.
Coil
reset Output destination Reset the coil drive hold command.

pls Output destination Output the rising edge of pulse.
plf Output destination Output the falling edge of pulse.
anb Parallel connection of serial circuit block
Connection
orb Serial connection of parallel circuit block

mps Store data in process of calculation.
mrd Read out data in process of calculation.
Read out and reset data in process of
mpp
calculation.
Others
nop No operation

10. 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.
The user-defined variables other than local variables (variables effective only in defined point job data
which are defined by the declare command) are defined in the Customizing mode. (See the operation
manual Features IV for details of the Customizing mode.)
Boolean type (boo): 1-bit variable which holds only 1 (true) or 0 (false)
Numeric type (num): 8-byte real type (double type) variable
String type (str): 255-byte variable
Category Type Identifier Description

boo #mv (1 99) Boolean variable
boo #mkv (1 99) Boolean variable (Keeping variable)*
Free num #nv (1 99) Numerical variable
Variable num #nkv (1 99) Numerical variable (Keeping variable)*
str #sv (1 99) String variable
str #skv (1 99) String variable (Keeping variable)*
Input boo #sysIn1 16 I/O-SYS
Variable boo #genIn1 8 I/O-1
Output boo #sysOut1 16 I/O-SYS
Variable boo #genOut1 8 I/O-1
System Refer to 12. SYSTEM FLAG LIST on Page
boo #sysFlag(1) #sysFlag(999)
Flag 62.
set #FBZ : Sound the buzzer.
Buzzer boo #FBZ reset #FBZ : Stop the buzzer.
(onoffBZ : Sound the buzzer on and off.)
*: The variables which hold its values even if the robot is turned off are collectivelly called
keeping variable in the operation manuals.

Variables
The assigned value will be decreased
num #downTimer1 10
automatically (by msec).
Start a point job from the position above the Z-
num #jobStartHight coordinate by the assigned value.
(Invalid in the CP drive)
Start a point job from the position far from the
Special num #jobStartX X-coordinate by the assigned value.
Variable (Invalid in the CP drive)
num #jobStartY Y-coordinate by the assigned value.
num #jobStartR R-coordinate by the assigned value.
Pallet flag
boo #palletFlag (1 100)
Pallet (Corresponds to Pallet Routine Nos. 1 100.)
Routine Pallet counter
num #palletCount (1 100)
(Corresponds to Pallet Routine Nos. 1 100.)
#workAdj_X (1 100)
Adjustment value of each Axis in [Workpiece
#workAdj_Y (1 100)
Workpiece Adjustment] settings
num #workAdj_Z (1 100)
Adjustment (Corresponds to Work Adjustment Nos. 1
#workAdj_R (1 100)
100.)
#workAdj_Rotation (1 100)
#tool_X (1 100)
TCP value of each Axis in [Point Tool Data
#tool_Y (1 100)
Tool Data num Settings] settings.
#tool_Z (1 100)
(Corresponds to Tool Nos. 1 100.)
#tool_R (1 100)
PTP condition number
The PTP condition number set by using this
PTP variable has a priority over other PTP condition
num #priorityPTPCondNum
Condition numbers in the PTP drive (even at the points
to which the additional function data [PTP
Condition] is set).
Add 1 when #seqTCount reaches the
boo #seqT (1 99)
specified value or greater.
#seqTCount (1 50):
Integrating timer One counter can count 0.001 2,147,483,647
num
#seqTCoun (51 99): seconds (by 0.001 second).
Sequencer
Unintegrating timer
Add 1 when #seqCCount reaches the
boo #seqC (1 99)
specified value or greater.
num #seqCCount (1 99) One counter can count 1 2,147,483,647.

Variables
X-coordinate value of the point currently
num #point_X
performed
Y-coordinate value of the point currently
num #point_Y
performed
Current
Point Z-coordinate value of the point currently
num #point_Z
Coordinates performed
R-coordinate value of the point currently
num #point_R
performed
Tag code value of the point currently
num #point_TagCode
performed
num #P_X (1 last point number) X-coordinate value of the specified point
num #P_Y (1 last point number) Y-coordinate value of the specified point
Specified
Point num #P_Z (1 last point number) Z-coordinate value of the specified point
Coordinates num #P_R (1 last point number) R-coordinate value of the specified point
#P_TagCode (1 last point
num Tag code value of the specified point
number)
#prog_P_X (1 255, 1 last
X-coordinate value of the specified point in
num
point number) the specified program
#prog_P_Y (1 255, 1 last
Y-coordinate value of the specified point in
Specified num
Program,
#prog_P_Z (1 255, 1 last
Z-coordinate value of the specified point in
Specified num
Point
Coordinates num #prog_P_R (1 255, 1 last
R-coordinate value of the specified point in
#prog_P_TagCode (1 255, Tag code value of the specified point in the
num
1 last point number) specified program
Condition setting variable number set to the
num #point_CondNum
point currently performed
#P_CondNum (1 last point Condition setting variable number set to the
num
Condition number) specified point
Number #prog_P_CondNum (1 255, Condition setting variable number set to the
num
1 last point number) specified point in the specified program

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 Customizing mode. (See the operation manual Features
IV for details of the Customizing mode.)
x, y: Numerical value or numerical variable

n, m: Numeric value becomes larger than a certain value by rounding or truncation
a, b: String or string variable
num currentMainProgNumber () Currently performed main program number
num currentSubProgNumber () Currently performed sub program number
num currentPointNumber () Currently performed point number
num currentArmX () Current X-coordinate [mm]
num currentArmY () Current Y-coordinate [mm]
num currentArmZ () Current Z-coordinate [mm]
num currentArmR () Current R-coordinate [deg]
num currentCmdArmX () Current command X-coordinate [mm]
num currentCmdArmY () Current command Y-coordinate [mm]
num currentCmdArmZ () Current command Z-coordinate [mm]
num currentCmdArmR () Current command R-coordinate [deg]
num numCOM (COM port number) Data byte count of COM receiving port
Display whether the specified condition data
Robot num isConditionData (n)
number is available (1) or not (0).
System Adjust the strings on the teaching pendant LCD
str strCenterLCD (a)
(centering).
Adjust the strings on the teaching pendant LCD
str strRightLCD (a)
(right justification).
Teaching pendant LCD: Right priority; Items on
str strPlusRLCD (a,b) the right are displayed in full if there is an
overlap.
Teaching pendant LCD: Left priority; Items on the
str strPlusLLCD (a,b)
left are displayed in full if there is an overlap.
Valid only for job while moving.
num getSystemPTPmoveTime ()
Time required for the current PTP drive [sec]
Valid only for jog while moving.
num getSystemPTPrestTime () Time left before the current PTP drive ends
(reaching to the destination) [sec]

num abs (x) Absolute value
num max (x,y) Maximum value
num min (x,y) Minimum value
num degrade (x) Conversion from degree to radian (x*/180)
num raddeg (x) Conversion from radian to degree (x*180/)
num sqrt (x) Square root
num sin (x) Sine
num cos (x) Cosine
num tan (x) Tangent
Arithmetic num atan (x) Arctangent
System num atan2 (x,y) Arctangent
Maximum integer that does not exceed x.
num int (x) e.g. int (1.3)=1, int (-1.3)=-2
Integer part of x: sgn (x)*int (abs(x))
(If x is a negative number, sgn (x) becomes -1. If x is a
num ip (x) positive number, sgn (x) becomes +1.)
e.g. ip (1.3)=1, ip (-1.3)=-1
Decimal part of x: x-ip (x)
num fp (x) e.g. fp (1.3)=0.3, fp (-1.3)=-0.3
num mod (x,y) Value of x modulo y: x-y*int (x/y)
num remainder (x,y) Remainder of dividing x by y: x-y*ip (x/y)
num pow (x,y) x to the power of y
Return a string (1 character) with the given character
str chr (x) code.
Return the top character code. Other codes are
num ord (a)
ignored.
num len (a) Return the string length (non-multibyte).
num strPos (a,b) Return the first part string position in a matching b.
Return the strings n m counted from the top of the
str strMid (a,n,m)
given string a.
str str (x) Convert a numeric value to a decimal digit string.
Convert a numeric value to a binary string.
str strBin (n,m)
m: Number of binary string digits
Convert a numeric value to a hexadecimal string.
str strHex (n,m)
m: Number of hexadecimal string digits
String
Round a numeric value to a 1-byte signed integer to
System str str1SI (x)
convert it to a 1-byte string. (1-byte Signed Integer)
str str2SIBE (x) convert it to a 2-byte string using the Big Endian byte
order. (2-byte Signed Integer Big Endian)
str str2SILE (x) convert it to a 2-byte string using the Little Endian byte
order. (2-byte Signed Integer Little Endian)
str str4SIBE (x) convert it to a 4-byte string using the Big Endian byte
order. (4-byte Signed Integer Big Endian)
str str4SILE (x) convert it to a 4-byte string using the Little Endian byte
order. (4-byte Signed Integer Little Endian)

Regard a numeric value as a float to convert it to a
str str4FBE (x) 4-byte string using the Big Endian byte order. (4-byte
Signed Float Big Endian)
Regard a numeric value as a float to convert it to a
str str4FLE (x) 4-byte string using the Little Endian byte order. (4-byte
Regard a numeric value as a float to convert it to an
str str8DBE (x) 8-byte string using the Big Endian byte order. (8-byte
Regard a numeric value as a float to convert it to an
str str8DLE (x) 8-byte string using the Little Endian byte order. (8-byte
Signed Float Little Endian)
Regard a string as a decimal digit string to convert it to
num val (a)
a numeric value.
Regard a string as a binary string (sequence of 0, 1)
num valBin (a)
to convert it to a numeric value.
Regard a string as a hexadecimal string (sequence of
num valHex (a) 0 1, A F, or a f) to convert it to a numeric
value.
Convert the top character to a 1-byte signed integer.
num val1SI (a)
(1-byte Signed Integer)
Convert the top 2 characters to a 2-byte signed integer
num val2SIBE (a) using the Big Endian byte order. (2-byte Signed Integer
Big Endian)
String Convert the top 2 characters to a 2-byte signed integer
System num val2SILE (a) using the Little Endian byte order. (2-byte Signed
Integer Little Endian)
num val4SIBE (a) using the Big Endian byte order. (4-byte Signed Integer
Big Endian)
num val4SILE (a) using the Little Endian byte order. (4-byte Signed
Integer Little Endian)
Convert the top 4 characters to a float using the Big
num val4FBE (a)
Endian byte order. (4-byte Float Big Endian)
Convert the top 4 characters to a float using the Little
num val4FLE (a)
Endian byte order. (4-byte Float Little Endian)
Convert the top 8 characters to a double-precision float
num val8DBE (a) using the Big Endian byte order. (8-byte Doulbe Big
Endian)
Convert the top 8 characters to a double-precision float
num val8DLE (a) using the Little Endian byte order. (8-byte Little Big
Endian)
num valSum (a) Return the sum of a string code from top to bottom.
Remainder of dividing a string (bit string) by a generator
num valCRC (a)
polynomial X16+X12+X5+1
str bitNot (a) Bit invert
str bitAnd (a,b) Bit logical conjunction
str bitOr (a,b) Bit logical add
str bitXor (a,b) Bit exclusive disjunction

12. 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
assigned values whenever necessary.
No. Identifier Description Condition 1 (True)

01 #FisCOM1 COM1 receive data existence Exists
Result of COM1 receive data compare
02 #FltCOM1 Constant > Receive data
command (cmpCOM)
03 #FeqCOM1 Constant = Receive data
command (cmpCOM)
04 #FgtCOM1 Constant < Receive data
command (cmpCOM)
COM1 receive data compare command
05 #FtimeOutCOM1 Timeout
(cmpCOM) timeout
command (cmpCOM)
command (cmpCOM)
command (cmpCOM)
(cmpCOM) timeout
command (cmpCOM)
command (cmpCOM)
command (cmpCOM)
(cmpCOM) timeout
command (cmpCOM)
command (cmpCOM)
command (cmpCOM)
(cmpCOM) timeout
State of mechanical initialization command Mechanical initialization
30 #FinitMecError
error error
31 #FcameraError State of camera data error Error
32 #FtakeZError State of Z height data (takeZWadj) error Error
33 #FlMoveOutRange Relative move command range Out of range
Condition stop state of relative move Stopped by the stop
34 #FlMoveStop
command condition

35 #FcheckPosError Result of the position error detect command Position error
36 #FdataInBCDError State of dataInBCD command error Error
60 #FstartSW Start switch ON (Pressed)
61 #FincSW Program number selection key (+) ON (Pressed)
62 #FdecSW Program number selection key () ON (Pressed)
ON (The emergency stop
63 #FemgSW EMG direct input
switch is pressed.)
Circuit open
64 #Fios I/O-S direct input
(disconnected)
71 #Fsensor1 Initial X position sensor ON
No. Identifier Description Condition 1 (True)

72 #Fsensor2 Initial Y position sensor ON
73 #Fsensor3 Initial Z position sensor ON
74 #Fsensor4 Initial R position sensor ON
76 #Fdrvoz1 X driver 0-phase Close
77 #Fdrvoz2 Y driver 0-phase Close
78 #Fdrvoz3 Z driver 0-phase Close
79 #Fdrvoz4 R driver 0-phase Close
91 #FenableSW Enable switch ON (Pressed)
92 #FspmodeSW Special mode switch ON
93 #FspareSW Spare switch ON
94 #FmotorPower State of the power to the motor ON

13. ERROR MESSAGE LIST
When an error occurs, the program number display on the front of the operation panel will alternately
show the Er sign and the error number (excluding error numbers of 100 or larger).
TP If an error has occurred, the error number and error message will be displayed on the
teaching pendant LCD. If the teaching pendant is not connected, turn the power off and
connect the teaching pendant to the robot. After turning the power on again, the error
number and error message will be displayed on the teaching pendant LCD.
PC If the robot is connected to a PC, select [System Error Information] or [Run Error
Information] from the [Robot] pull-down menu in the JR C-Points software. All robot error
information will be displayed. If the robot is not connected to a PC, turn the power to the
robot off. (If the PC is on, turn it off.) Connect the PC to the robot, start up the PC and load
the error information following the above procedures.
If the error cannot be fixed by the following countermeasures, contact the office listed on the back of
this manual (Janome Sewing Machine Co., Ltd., Industrial Automation Systems Division) or the dealer
from whom you purchased the robot.
Error No. Message Countermeasure
001 Program is Empty. Enter the number of an existing program.

For example, a CP passing point following a PTP point will
006 Point Type Error return a point type error.
Make sure that the point type entered is correct.
In this case, out of range means that the position of the
tool tip is outside the designated move area limit. This error
occurs when either a point position or an intermediate path
007 Position is out of range (as in a CP arc movement) falls out of the range.
Check the teaching position coordinates and reenter it.
Also check the move area limit and TCP (tool center point)
settings in the tool data, and then reenter it.
Point job errors which are not classified as one of Errors
009 013, 016, and 042 053 fall into this category.
z An ld or ldi corresponding to an anb or orb does not
exist in the condition commands.
z There are more than 30 then, else or timeUp nests in a
008 Error on Point Job single point job routine.
z A then, else or endIf command does not have a
corresponding if command.
z A timeUp or endWait command does not have a
corresponding waitCondTime or waitCond command.
Check the point job command and reenter it.

This error includes the following cases:
z When a then or else corresponding to an if is missing.
then/else for if doesn't
009 z When non-condition commands are entered between
exist
an if and a then or else.
010 endIf for if doesn't exist Check the point job command and reenter it.
endWait for waitCond
011 Check the point job command and reenter it.
doesn't exist
Label for jump doesn't
exist
This error occurs when the jump point number of the point
job command, goPoint, goRPoint, or palletLoop is larger
Point for goPoint doesn't
013 than the largest point number in a program or when it will be
exist
a negative number.
This error occurs when the pallet number designated by a
Error on Pallet Routine point job command does not exist. Check the point job
016
Data command or the designated pallet routine in the additional
function and reenter it.
022 CP Speed Over Reduce the CP (line) speed.
All C & T data from FLROM should be automatically deleted
030 FLROM Erase Error before saving. If this doesnt occur, it is probably due to a
hardware error.
A write error can occur when saving C & T data. This could
031 FLROM Write Error
be a hardware error.
When the power to the robot is turned on, the C & T data in
the storage area will be copied to the work area. If these
035 Teaching Data SUM Error two data sets are not identical, this error will occur. Delete
the C & T data. This error will also occur if the power to the
robot is turned off while saving C & T data.
This message will appear when the motor power is not
supplied. Check the motor power supply.
z If the power supply connector or one of the thermal
037 Motor Power Supply Error protectors is defective, check the connection for the
parts.
z If the power source is defective, replace the power
source unit.
Job for callJob doesn't
exist
This error occurs when there are more than 30 callJob or
043 callJob Nesting Error callBase nests in a single point job routine.
Program for callProg
doesn't exist

This error occurs when there are more than 30 callProg or

045 callProg Nesting Error callPoints nests in a single point job routine.
This error occurs when there are more than 30 for or do

046 for, do Nesting Error nests in a single point job routine.
Points for callPoints doesn't

exist
This error occurs when a next corresponding to a for

or a loop corresponding to a do does not exist.
It also occurs when a next or a loop appears even tho
048 for-next, do-loop Error ugh a
for or a do does not exist.
This error occurs if identifiers are overlapped using a
Creating Local Variable declare command or if the variable range is impossible
049 when generating a local variable.
Error
This error occurs if the following errors are detected
during expression evaluation.
z No variable or function is included in expression
It is probable that the variable identifier or function
identifier is wrong and the variable or the function
may not have been defined.
050 Evaluate Expression Error
z Wrong brackets
z Wrong operators (e.g. +, -, *, /)
z Wrong argument counts or types (including the numbers
of array element successor functions) during a function
call operation.
This error occurs if there is no IO alias specified.
It is probable that the identifier is wrong or there is no
051 IO Alias Error
definition.
This error occurs if there is no COM alias specified.
It is probable that the identifier is wrong or there is no
052 COM Alias Error definition.
This error occurs if the expression evaluation value
Parameter value is out of exceeds the range.
053
range Check the point job command and reenter it.

This error occurs when the emergency stop button on the
teaching pendant or operation box has been pressed or
the I/O-S emergency stop function (CE model only) has
082 Emergency Stop
been activated.
Release the emergency stop then send the start signal to
perform the mechanical initialization.
This error occurs if the system program applications and
those of C & T data are different. For example, if you
register dispensing programs in the robots RAM and
then transfer the standard application system programs
to the robot, it will return an error when the power is
085 Incorrect Use
turned on.
Delete all C&T data or change the system program.
If the teaching pendant is connected, the message [All
Teaching Data Delete OK?] will be displayed on the LCD.
Select [YES] to delete the C & T data.
This error occurs if the data version number of the
system program is lower than that of the teaching data.
In other words, the system program version does not
match the teaching data version registered in the robot.
086 Incorrect Data Version
Delete all teaching data or update the system program.
This error occurs if the data sub version number of the
system program is lower than that of the teaching
data. In other words, the system program version does
not match the teaching data version registered in the
Incorrect Data Sub Version
087 robot.
Delete all teaching data or update the system program.
This error occurs if the Z sensor does not open or close
after rotating the Z motor according to the preset pulse
output during mechanical initialization.
089 Z Sensor/Motor Error If the Z motor is rotating, the error has been caused by a
sensor malfunction.
If the Z motor is not rotating, it has been caused by a
motor malfunction. (Mechanical initialization error)

This error occurs when the driver Z-Phase signal is not
output at all or if it continues to be output after rotating the
090 Z Driver 0-Phase Error
Z motor according to the preset pulse output during
mechanical initialization. (Mechanical initialization error)
This error occurs if the X sensor does not open or close
after rotating the X motor according to the preset pulse
092 X Sensor/Motor Error If the X motor is rotating, the error has been caused by a
sensor malfunction.
If the X motor is not rotating, it has been caused by a
This error occurs when the driver X-Phase signal is not
output or if it continues to be output after rotating the X
093 X Driver 0-Phaze Error
motor according to the preset pulse output during
This error occurs if the Y sensor does not open or close
after rotating the Y motor according to the preset pulse
095 Y Sensor/Motor Error If the Y motor is rotating, the error has been caused by a
sensor malfunction.
If the Y motor is not rotating, it has been caused by a
This error occurs when the driver Y-Phase signal is not
output or if it continues to be output after rotating the Y
096 Y Driver 0-Phaze Error
This error occurs if the R sensor does not open or close
after rotating the R motor according to the preset pulse
098 R Sensor/Motor Error If the R motor is rotating, the error has been caused by a
sensor malfunction.
If the R motor is not rotating, it has been caused by a
This error occurs when the driver R-Phase signal is not
output or if it continues to be output after rotating the R
099 R Driver 0-Phaze Error
This error number will not be displayed on the program
number display, but will be on the teaching pendant LCD
or PC.
Turn the power off briefly and then turn it on again. If the
100 Logical Error XXXXXX
error occurs repeatedly, contact the office listed on the
back of this manual or the dealer from whom you
purchased the robot and describe the error message
(XXXXXX).
A beep will briefly sound twice when this error has
occurred. Turn the power off briefly and then turn it on
again. The error message and number will be displayed
101 Trap Error on the teaching pendant LCD.
It is necessary to replace printed circuit board A (unit).
Contact the office listed on the back of this manual or the
dealer from whom you purchased the robot.

Power-On Error
No error number or message will be displayed on the LCD for the errors indicated below. Identify the
error type by the following sounds:
Buzzer Description
Special mode program error
This error occurs if the special mode program does not exist
or has been damaged (judged by the SUM check command)
One long beep
when turning the power ON in the special mode.
It is necessary to replace printed circuit board A (unit).
Contact the dealer from whom you purchased the robot.
System program error
This error occurs if the system program does not exist or has
been damaged (judged by the SUM check command).
Two long beeps
It may be possible to fix the problem by switching to the
special mode and reinstalling the system program. Contact
the dealer from whom you purchased the robot.
Trap error
Two short beeps It is necessary to replace printed circuit board A (unit).
Flash ROM write error
One two-second beep It is necessary to replace printed circuit board A (unit).
The beeps sound repeatedly at 1.2-second (OFF2) intervals. The long and short tones are
distinguished by the duration of the beeps to help you identify the error types.
ON
Beep
OFF1 OFF2
ON OFF1 OFF2
Long beep 0.6 [sec] 0.6 [sec] 1.2 [sec]
Short beep 0.2 [sec] 0.2 [sec] 1.2 [sec]
e.g. 1: Three Short Beeps

ON OF ON OFF ON OFF ON OFF ON OF OFF ON
F F
0.2 0.2 0.2 0.2 0.2 1.2 0.2 0.2 0.2 0.2 1.2 0.2 [sec]
e.g. 2: One Long Beep

ON OFF ON OFF ON OFF
0.6 1.2 0.6 1.2 0.6 1.2 [sec]

14. SPECIFICATIONS
Common to JR2200N, JR2300N, JR2400N, and JR2500N Series

Teaching Method Remote teaching (JOG) and manual data input (MDI)
Simple and multipurpose JANOME original JR C-Points
software
Simple: Easy teaching simply by inputting necessary
items, such as positions and parameters.
Teaching System Optional system programs for standard and
other various applications are available.
Multipurpose: You can create original programs, such as
I/O control using not only robot languages
but also point job commands.
Direct teaching using the teaching pendant (optional)
Teaching Pattern
Off-line teaching using the PC (optional)
Program Capacity 255 programs
Data Memory Capacity Maximum 30,000 points
Drive Method 5-phase stepping motor drive
Control Method Point to Point (PTP) drive, Continuous Path (CP) drive
Interpolating Function 3-Dimensional linear and arc interpolation
RS-422: 1ch
For teaching pendant only: 1ch
RS-232C: 3 ch
External Interface
For PC (COM1): 1ch
For external device (COM2): 1ch (Optional)
For external device (COM3): 1ch (Optional)
PLC Function 100 programs, 1,000 steps/1 program
Power Source AC90 132 V/AC180 250V (single phase)
Power Capacity 200VA
Operating Ambient Temperature 0 40degC
Relative Humidity 20 95% (no condensing)
Storage Temperature -10 +60 degC
Airborne Noise Not more than 70dB

JR2200N Series
Model
2203N 2204N
Specifications
Axis Type*1 3 (synchronous control) 4 (synchronous control)
X-Axis 200mm
Y-Axis 200mm
Operating Range
Z-Axis 50mm
R-Axis 360deg
Workpiece 7kg
Portable Weight*2
Tool 3.5kg
Acceptable Moment of Inertia 65kgcm2
X- and Y-Axes 500mm/sec (2 500mm/sec)*4
Maximum Speed*3 Z-Axis 250mm/sec (2.5 250mm/sec)*4
(PTP Drive) 600deg/sec
R-Axis
(6 600deg/sec) *4
Maximum Speed*3 X-, Y-, and Z-Axes
500mm/sec (0.1 500mm/sec)*4
(CP Drive) (Combined)
X- and Y-Axes 0.01mm
Repeatability Z-Axis 0.01mm
R-Axis 0.02deg
I/O-SYS: 16 Inputs and 16 Outputs
External Input/Output I/O-1 (Optional): 8 Inputs and 8 Outputs (including 4 relay
contacts)
Weight (Robot) 18kg
*1: 2-Axis type model is also available.

*2: Maximum portable weight for 2Axis model is 6.5kg for the tool and 7.0kg for the workpiece.
*3: Maximum speed may vary depending on drive conditions.
*4: Speed range
z CE specification models are available.

JR2300N and JR2400N Series
Model
2303N 2304N 2403N 2404N
Specifications
Axis Type*1 (Synchronous Control) 3 4 3 4
X-Axis 300mm 400mm
Operating Y-Axis 320mm 400mm
Range Z-Axis 100mm 150mm
R-Axis 360deg 360deg
Portable Workpiece 11kg
Weight*2 Tool 6kg
Acceptable Moment of Inertia 90kgcm2 90kgcm2
Maximum
*3 Z-Axis 320mm/sec (3.2 320mm/sec)*4
Speed
(PTP Drive) 800deg/sec 800deg/sec
R-Axis
*4
(8 800deg/sec) (8 800deg/sec)*4
Maximum
X-, Y-, and Z-Axes
Speed*3 800mm/sec (0.1 800mm/sec)*4
(Combined)
(CP Drive)
R-Axis 0.02deg 0.02deg
contacts)
Weight (Robot) 35kg 42kg

*2: Maximum portable weight for 2Axis model is 7.0kg for the tool and 11kg for the workpiece.
*4: Speed range

JR2500N Series
Model
2503N 2504N
Specifications
Axis Type*1 3 (synchronous control) 4 (synchronous control)
X-Axis 510mm
Y-Axis 510mm
Operating Range
Z-Axis 150mm
R-Axis 360deg
Workpiece 11kg
Portable Weight*2
Tool 6kg
Acceptable Moment of inertia 90kgcm2
Maximum Z-Axis 320mm/sec (3.2 320mm/sec)*4
*3
Speed
/sec
(PTP Drive) R-Axis
(/sec)
Maximum
X-, Y-, and Z-Axes
Speed*3 800mm/sec (0.1 800mm/sec)*4
(Combined)
(CP Drive)
R-Axis 0.02deg
contacts)
Weight (Robot) 43kg

*2: Maximum portable weight for 2Axis model is 7.0kg for the tool and 11kg for the workpiece.
*4: Speed range

MEMO

JANO Sewing Machine Co., Ltd.
Industrial Automation Systems Division
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 quality.
No part of this manual may be reproduced in any form, including
photocopying, reprinting, or translation into another language, without the
prior written consent of JANOME.
2007, JANOME Sewing Machine Co., Ltd., All rights reserved.
9638106109 as of 2006-10
27 July 2007

IJ 2000 Series (IJ-2400N-4)

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JANOME DESKTOP ROBOT

Be sure to follow the instructions

Symbols Indicating the Degree of Damage or Danger

The Warning symbol indicates the possibility of death or serious

The Caution symbol indicates the possibility of accidental injury or

Symbols Indicating Details of Danger and Preventive Measures

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

Use the unit in an environment between 0 and 40 degrees centigrade

Use the unit in an environment where no electrical noise is present.

Use the unit in an environment that is not exposed to direct sunlight.

Power the unit only with the rated voltage.

Plug the power cord into the wall outlet firmly.

Specifications ii Desktop Robot JR2000N Series

Be sure to use the unit within the voltage range indicated.

Be sure to check the wiring to the main unit.

Be sure to secure the movable parts of the unit before transportation.

Before operating the unit, be sure to check that there is no danger in

Specifications iii Desktop Robot JR2000N Series

If anything unusual occurs (e.g. a burning smell or abnormal sound),

Keep the emergency stop switch within reach of an operator while

Regularly check that the emergency stop switch works properly.

Specifications iv Desktop Robot JR2000N Series

Explains how to set up the robot.

BE SURE TO PROPERLY GROUND THE ROBOT WHEN INSTALLING.

Be sure to save data whenever it is added or modified. Otherwise, changes will

Specifications v Desktop Robot JR2000N Series

FOR YOUR SAFETY ______________________________________________________________ i

1. EXTERNAL DIMENSIONS _____________________________________________________ 1

2. ATTACHING EQUIPMENT ____________________________________________________ 16

4. I/O-1 (OPTIONAL) ___________________________________________________________ 31

Specifications vi Desktop Robot JR2000N Series

5. I/O-S (CE SPECIFICATIONS) __________________________________________________ 40

9. COMMAND LIST ____________________________________________________________ 51

10. VARIABLE LIST ____________________________________________________________ 56

11. FUNCTION LIST ___________________________________________________________ 59

12. SYSTEM FLAG LIST ________________________________________________________ 62

13. ERROR MESSAGE LIST ____________________________________________________ 64

14. SPECIFICATIONS __________________________________________________________ 70

Specifications vii Desktop Robot JR2000N Series

Specifications viii Desktop Robot JR2000N Series

Specifications 1 Desktop Robot JR2000N Series

Specifications 2 Desktop Robot JR2000N Series

Attach the tool within

Specifications 3 Desktop Robot JR2000N Series

Specifications 4 Desktop Robot JR2000N Series

Specifications 5 Desktop Robot JR2000N Series

Specifications 6 Desktop Robot JR2000N Series

Specifications 7 Desktop Robot JR2000N Series

Specifications 8 Desktop Robot JR2000N Series

Attach the tool

Specifications 9 Desktop Robot JR2000N Series

Specifications 10 Desktop Robot JR2000N Series

Specifications 11 Desktop Robot JR2000N Series