Technical Information

Features

Increased Maximum Speed & Acceleration

 

Device Attachment Grooves

The top and rear of the Y Axis arm feature grooves for attaching external devices.
Easily consolidate wiring when attaching external tools, etc.

Selectable Safety Circuit (optional)

In addition to the conventional Safety Category 1, Performance Level PL=c circuit, it is possible to select the option of constructing an external Safety Category 3, Performance Level PL=d safety circuit (with a motor power supply turn OFF) for dangerous jobs and/or facilities.

Optional auxiliary axes function for control of up to 4 axes + 2 external motors

Connect up to 2 "pulse string input type" devices, such as stepping motors or servomotors.
2 control modes and an encoder input function for compatibility with a variety of applications.

  • Point Mode: The auxiliary axes move in tandem with the robot's X, Y, Z and R Axes.
    Example: a 4 Axes dispensing robot expands to 6 axes.
    2 axes are added to change both the syringe angle and the workpiece angle to set the angles for dispensing on the outer edge surface of a hole cut into a tubular workpiece.
  • Independent Mode: The auxiliary axes move independent of the robot's X, Y, Z and R Axes.
    Example: Have the robot do a job while running a conveyor.
    The auxiliary axis (or axes) operate independent of the point coordinates and movements, allowing the robot to execute jobs such as dispensing or screw tightening while the conveyor runs.
  • Encoder Input: Acquire external encoder values and monitor the rotation amount; also control sensors.

Camera System

With an optional AS200 position adjustment camera, make position corrections for displaced workpieces for accurate jobs.
No need for specialized camera software; both the robot and the camera are settable with our original "JR C-Points III" software.

Auto Calibration

Camera Position Adjustment

Expanded Fieldbus Compatibility

In addition to the signal control and point job-based data exchange functions from our previous model, we added a "Fieldbus Register Output Function" to the JR4000 for constant output of specified types of data, which allows the user to consistently acquire necessary data from a PLC with making complicated settings.

Expanded Point Jobs & Customization Functions

Freely program the robot with point jobs, even with jobs for which there are no preset point types.
Compared with our previous model, the JR4000 offers more usable commands and built-in variables and expanded function customization capabilities.

*Other features such as user-friendly teaching, needle adjuster functions, etc., are carried over from the JR3000 Series.

PC Software "JR C-Points Ⅲ" (optional)

Janome's original PC software "JR C-Points III" is a comprehensive interactive program input system allowing users to create, edit and save teaching data and customizing data all on their PC.

Show movement point coordinates graphically to instinctively grasp program content, as well as convert coordinates from CAD data. Setting parameters are also shown in the convenient tree view for confirmation and editing.

Convert "JR C-Points II" teaching data into "JR C-Points III" data for use with the JR4000.

  • Ribbon Control
    Click each category tab and the function buttons and setting items for that tab appear.
  • Graphic Editing View
    Teach visually with the 3D view in the 3D display graphic editing area.
  • Point Data Editing View
    Directly edit the selected point data elements, including the point type, coordinate positions, point job, etc.
  • JOG View
    Connect to the JR4000 Robot and make JOG movements directly from a PC.


Greatly Enhanced Point Graphic Functions

3DCAD Upload Capability

Referring to uploaded 3DCAD data, automatically generate teaching points, and greatly reduce your teaching burden.

A new point type, "Spline Curve Drive" is built into the system program, making it possible to handle even workpieces with difficult shapes.

Easily Adjust Registered Point Coordinates

Easily offset, enlarge or reduce the coordinate image on the graphic display.

Adjust the coordinates to match the actual robot for easy operation.

Quick Guide

Select a menu item or function and the "Quick Guide" shows an explanation of that selection on the PC software display. There is no need to take out the operation manual just to confirm the content of a given function.

Tablet PC Compatibility

Change user interfaces between a standard PC and a tablet PC.

Operate the robot comfortably even in different environments.

*For safety, use a Safety Commander© when using a tablet PC.
*Safety Commander© is a trademark and/or registered trademark of IDEC CORPORATION.

Coordinate Conversion Function for Workpiece Variation Adjustment

Converts the job coordinates to match the coordinates for each individual workpiece written to the software to compensate for individual variations when doing the same job on multiple workpieces. Horizontal deployment is more efficient as the additional effort for making fine adjustments is eliminated.

Operation Lock Function

Set a password from a Windows account with administrator rights, and lock the data so it cannot be saved or overwritten from other accounts.

Software Applications

Dedicated software for screw tightening and dispensing jobs.

Screw Tightening Specifications

Robot with screwdriver and Janome screw presenter attached

Creating screw tightening job programs is easy: just set the job positions for screw tightening parameters such as screw pitch, length, and the driver rpm.

  • Not just full screw tightening, but teaching screw loosening and partial (loose) screw tightening is also easy. (Loosening operations need to coordination from the screwdriver side.)
  • Screw Tightening Error Detection Function: Specialized screw tightening software features helpful functions including "Screw Stop Detection", "Screw Float Detection" as well as a function to stop the robot when the screw feeder is empty.

Dispensing Specifications

Robot with dispensing unit attached

Creating dispensing programs is easy: just set the job positions for dispensing parameters such as point dispensing or line dispensing.

  • Fill-in Dispensing Function
    Convenient fill-in dispensing functions which allow you to dispense like drawing a picture using only 2 points for a rectangle and 3 points for a circle.
  • Purging Function
    Have the robot purge on a repeating cycle when holding at the work home position. Also, purge the dispensing liquid whenever you want using the optional "Purge Switch".
  • Fragmented Dispensing Prevention Function
    Set a waiting time to prevent fragmented dispensing at the beginning and spraying at the end of dispensing runs.

Specifications - 3 axes

    JR4203 JR4303 JR4403 JR4503 JR4603
Operating Range X・Y Axes 200x200mm 300x320mm 400x400mm 510x510mm 510x620mm
Z Axes 50mm 100mm 150mm
Maximum Portable
Load
Workpiece 7kg 15kg
Tool 3.5kg 7kg
Maximum Speed *1
<PTP Movement>
( )=setting range
X - Y Axes 700mm/s
(7~700)
1000mm/s
(10~1000)
Z Axes 250mm/s
(2.5~250)
400mm/s
(4~400)
Maximum Speed *1
<CP Movement>
=setting range
X-Y-Z
Combined
Speed
600mm/s
(0.1~600)
850mm/s
(0.1~850)
Repeatability *2 X Axes ±0.006mm ±0.007mm ±0.008mm ±0.008mm
Y Axes ±0.01mm
Z Axes ±0.008mm
External Dimensions*3
( )=Double Column Type
W×D×H
*excluding protrusions

323 x 389 x 554mm

560 x 535 x 659mm 584 x 630 x 807 mm
(615 x 631 x 807)
678 x 730 x 807mm 790 x 730 x 807mm
Main Unit Weight*3
( )=Double Column Type
20kg 36kg 42kg
(45)
45kg 46kg

Specifications - 4 axes

    JR4204 JR4304 JR4404 JR4504 JR4604
Operating Range X x Y Axes 200×200mm 300×320mm 400×400mm 510×510mm 510×620mm
Z Axes 50mm 100mm 150mm
R Axes ±360°
Maximum Portable Load Workpiece 7kg 15kg
Tool 3.5kg 7kg
Maximum Speed*1
<PTP Movement>
( )=setting range
X - Y Axes 700mm/s
(7~700)
1000mm/s
(10~1000)
Z Axes 250mm/s
(2.5~250)
400mm/s
(4~400)
R Axes 600°/s
(6~600)
900°/s
(9~900)
Maximum Speed*1
<CP Movement>
( )=setting range
X - Y - Z
Combined
Speed
600mm/s
(0.1~600)
850mm/s
(0.1~850)
Acceptable Moment of Inertia 65kg - cm² 90kg - cm²
Repeatability *2 X Axes ±0.006mm ±0.007mm ±0.008mm
Y Axes ±0.01mm
Z Axes ±0.01mm
R Axes ±0.008°
External Dimensions*3
( )=Double Column Type
W×D×H
*excluding protrusions
323 x 389 x 676mm 560 x 535 x 844mm 584 x 630 x 894mm
(615 x 630 x 894)
678 x 730 x 894mm 790 x 730 x 894mm
Main Unit Weight*3
( )=Double Column Type
22kg 39kg 46kg
(49)
49kg 50kg

*1 Maximum speed can vary depending upon conditions. The robot cannot reach maximum speed when bearing the maximum portable load.
*2 Position repeatability is not a guarantee of absolute precision.
*3 With optional specifications, the external dimensions and the robot's mass may change. Please contact us for details.

Specifications - common

Drive Method 5 phase pulse motor drive (encoder added as an option)
Control Method TP (Point to Point) control, CP (Continuous Path) control
Interpolation 3-dimensional linear, 3-dimensional arc interpolation and spline curve interpolation
Teaching System Remote teaching (JOG) / Manual Data Input (MDI)
Teaching Method
  • Direct teaching using the optional teaching pendant
  • Off-line teaching with "JR C-Points Ⅲ" software from a PC. Compatible with CAD graphics(DXF, STEP, IGES, DWG, JPEG).
Screen Display Languages Japanese, English, French, Spanish, Italian, German, Korean, Simplified Chinese, Traditional Chinese, Czech, Vietnamese
Program Capacity 999 programs
Data Capacity Up to 32,000 Points
Simple PLC Function Up to 100 programs, with up to 1,000 steps/program
External Input/Output I/O-SYS
(optional)
16 inputs, 16 Outputs
I/O-1
(optional)
16 inputs, 14 Outputs (including 2 relay outputs)
I/O-S
(optional)

Interlock connector for an area sensor, etc.

  • I/O-S1: Standard Safety Circuit
  • I/O-S2: Redundant Safety Circuit
I/O-MT
(optional)
For auxiliary axes (pulse string input type)control;
control up to 2 axes
Field Network
(optional)
CC-Link, EtherNet/IP, PROFINET
COM1(optional) RS-232C for external device control, COM commands
COM2, COM3
(optional)
RS-232C for external device control
LAN

Ethernet connector for PC

  • Robot control via control commands
  • Connection to (optional) PC software "JR C-Points Ⅲ"
  • (Send and receive teaching and customizing data, upgrade system software)
  • (Optional: rear side port installation)
ENC-IN
(optional)
For external encoder value input
TPU Dedicated teaching pendant connector (optional)
SWITCHBOX Dedicated switchbox connector
I/O Built-in Power Supply(optional) 24V Rated 2.1A
Power Source AC100-120V/200-240V (Single Phase) 50/60Hz
Power Consumption 200W
Operating Enviroment Temperature 0~40°C
Relative Humidity 20~90% (Without condensation)
Standard Accessories Power Cable