Desktop Robot JR4000 Series

Increased Maximum Speed & Acceleration

Attained maximum speed of 1000mm/sec and maximum acceleration of 3400mm/sec2 with the JR43000 and larger models.
Industry-leading speed shortens cycle time.

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.

①Point 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.
② 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.
③ 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.

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.

① Ribbon Control
Click each category tab and the function buttons and setting items for that tab appear.

② Graphic Editing View
Teach visually with the 3D view in the 3D display graphic editing area.

③ Point Data Editing View
Directly edit the selected point data elements, including the point type, coordinate positions, point job, etc.

④ 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.

Dedicated software for screw tightening and dispensing jobs.

Screw Tightening Specifications

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.

Application Example

Robot with screwdriver and screw feeder attached.

Dispensing Specifications

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.

Application Example

Robot with dispensing unit attached