Maintenance
Contents
1. Z Phase of Motor Driver Diagnosis Select Z Phase of Motor Driver The screen 7 Phase of Motor Driver shown to the right will appear Z Phase of X Motor ON Z Phase of Y Motor amas Z Phase of Z Motor initialization The Z Phases of the motors for allthe 7 Bhase of R Motor Axes will be turned on after mechanical Press the F 4 INIT key to start the mechanical initialization Pressing any JOG key rotates each Axis motor by 1 Step equal to a 1 10000 rotation of the motor A full 1 rotation of the motor will move the X and Y Axes about 50mm the Z Axis about 25mm Maintenance 5 Desktop Robot JR2000N Series and the Y Axis 909 reference values Press the ESC key to return to the Diagnostic Mode menu Always pay special attention to the robots movement in the Caution Diagnostic Mode XY Axis Motor Diagnosis Select XY Axis Motor The screen shown to the i XY Axis Motor right will appear I i Number of Output Pulse Check the X Axis motor drive and the Y Axis Rate of Output Pulse motor drive on this screen X Axis Hold X Axis Half EA Y Axis Hold Axis hold excitation and half power ON OFF v Axis Half settings on this screen The Number of Output Pulse and Rate of Output Pulse settings are common to both the X and Y Axis motors The default settings for Number of Output Pulse and Rate of Output Pulse are 10000 equal to a full 1 rotation of2. Y motor is not rotating it has been caused by a motor malfunction Mechanical initialization error This error occurs when the driver Y Phase signal is not output fia or if it continues to be output after rotating the Y motor NOE OPE MSZE ENG according to the preset pulse output during mechanical initialization Mechanical initialization error Z Driver 0 Phase Error X 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 output during mechanical initialization R Sensor Motor Error l the R motor is rotating the error has been caused by a sensor malfunction l the R motor is not rotating it has been caused by a motor malfunction Mechanical initialization error This error occurs when the driver R Phase signal is not output or if it continues to be output after rotating the R motor according to the preset pulse output during mechanical initialization Mechanical initialization error This error number will not be displayed on the program number display but will be on the teaching pendant LCD or PC R Driver 0 Phaze Error Logical Error XXXXXX Turn the power off briefly and then turn it on again If the 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 of
3. the A E input signals come on while referring to the following chart indicating the logical relationship between the signals As shown in the diagram on the previous page the Motor Power ON signal is always on regardless of whether A Output of Motor Power ON is ON or OFF Accordingly if the emergency stop sequence is functioning normally F the Detect of Motor Power ON OFF indicator will not change if A the Output of Motor Power ON ON OFF indicator is changed A Output of Motor Power ON B Output of Emergenc C Motor Power OFF D 10 S CLOSE CLOSE CLOSE OPEN OPEN E Emergency Switch F Detect of Motor Power COM Communication COM1 COM3 Diagnosis Set the baud rate and output character string on COM Communication this screen and output the set character string Baud Rate 9600 from the COM1 port Check that the output Set Output String character string is displayed on the LCD Exocuie Quipursuing properly 30 31 32 33 41 42 43 61 62 63 0123ABCabc Data received from COM1 is displayed in 1 byte 64 0D d HEX left side and ASCII right side characters on the bottom of the screen However data sections OOH 1FH and 7FH FFH are displayed in HEX only ASCII text will not be displayed blank Set the baud rate as follows and check the output string results at each setting COM1 9600 19200 38400 57600 1 15200 COM2 9600 19200 38400 57600 1 15200 COM3 9600 19200 The baud rate will be reset au
4. the motor and 1000 Pressing any JOG key once rotates each Axis motor by the Number of Output Pulse 10 000 output pulses You can set the output pulses output pulse rate will move the X and Y Axes about 50mm Press the F 4 key to perform the mechanical initialization to move all the X Y Z and R Axes to their initial positions Press the ESC key to return to the Diagnostic Mode menu x Always pay special attention to the robots movement in the Caution Diagnostic Mode Maintenance 6 Desktop Robot JR2000N Series ZR Axis Motor Diagnosis Select ZR Axis Motor The screen shown to the ZR Axis Motor right will appear Number of Output Pulse Check the Z Axis motor drive and R Axis motor Rate of Output Pulse Z Axis Hold Z Axis Half You can set the output pulses output pulse rate R Axis Hold Axis hold excitation and half power ON OFF R Axis Half settings on this screen The Number of Output Pulse and Rate of Output Pulse settings are common to both the Z and R Axes motors The default settings for Number of Output Pulse and Rate of Output Pulse are 10 000 equal to a full 1 rotation of the motor and 1 000 Pressing any JOG key once rotates each Axis motor by the Number of Output Pulse 10 000 output pulses will move the Z Axis about 25mm and R Axis about 90deg Press the F 4 key to perform the mechanical initialization to move all the X Y Z and R A
5. JANOME DESKTOP ROBOT JR2000N Series Operation Manual Maintenance For Maintenance Operation Thank you for purchasing a Janome Robot Read this manual thoroughly in order to ensure proper use of this robot Be sure to read For Your Safety before you use the robot The information will help you protect yourself and others from possible dangers during operation e After having read this manual keep it in a handy place so that you or the operator can refer to it whenever necessary JANOME CONTENTS MAINTENANCE FOR YOUR SAFETY PREFACE CONTENTS HOW TO BACK UP THE C amp T DATA TROUBLESHOOTING Self Diagnosis Failure Diagnosis Diagnosis for Teaching Pendant Keys Teaching Pendant Diagnosis Switch Diagnosis LED Buzzer Diagnosis State of Sensor Diagnosis Z Phase of Motor Driver Diagnosis XY Axis Motor Diagnosis ZR Axis Motor Diagnosis Position of Sensor Diagnosis External I O Diagnosis Diagnosis for Emergency COM Communication COM1 COMS3 Diagnosis GREASE UP Screws to be Removed for Greasing Grease Up HOW TO DOWNLOAD THE ROBOT SYSTEM SOFTWARE ERROR MESSAGE Maintenance vi vi mu O co ON NOTH A amp co 0 NM DN PY as 11 14 16 17 Desktop Robot JR2000N Series HOW TO BACK UP THE C amp T DATA Always remember to back up all data in case of accident To back up data start the PC software JR C Points Limited Edition included on the operation manual CD ROM and retrie
6. ant is not connected turn off the robot and then connect the teaching pendant to the robot After turning it on again an error message will be displayed on the teaching pendant LCD For details of errors and how to fix the problem refer to the ERROR MESSAGE on Page 17 of this manual Failure Diagnosis If you are unsure if the robot is functioning properly select Diagnostic Mode in the Administration menu The following menu items will be displayed on the teaching pendant LCD 1 KeyofTeachingPendant 8 ZR Axis Motor iii 2 TeachingPendant 9 Possitionof Sensor 6 ZPhaseofMotorDriver 13 COM2 Communication XY Axis Motor Press the MODE key and select Administration from the Mode selection menu to start up the Administration Mode Select Diagnostic Mode from the Administration Mode menu to enter the Diagnostic Mode Select an item that you wish to check and check that it is functioning properly Q Be sure to turn off the robot after the diagnosis Maintenance 2 Desktop Robot JR2000N Series Diagnosis for Teaching Pendant Keys Press a key on the teaching pendant and check that the same key is displayed on the teaching pendant LCD Press the CTRL and ESC the Diagnostic Mode menu Press the SHIFT and ESC keys to return to keys to return to the Administration Mode menu Teaching Pendant Diagnosis C
7. ct the dealer from whom you purchased the robot To check the error again press the F 4 key and perform the mechanical initialization move all the X Y Z and R Axes to its initial positions Press the ESC key to return to the Diagnostic Mode menu External I O Diagnosis Connect an external I O test device to check the Exiemalvo input switch and output status to the VO SYS and 6543210987654321 I O 1 optional terminals and then select External eed IN too 1 0 TIT The screen shown to the right will appear and the 6543210987654321 current VO SYS and 1 O 1 statuses will be O SYS OUT displayed ON 1 OFF The cursor is placed on the output status line Shift the cursor using the CURSOR gt and the CURSOR keys Pressing the ENTR key Changing Output with ENTR key switches the output status ON or OFF Check that actual input output statuses match the displayed statuses on the LCD and the test device If the I O 1 optional has not been added on the screen displays the I O SYS status only Press the ESC key to return to the Diagnostic Mode menu IO 1 OUT Maintenance 8 Desktop Robot JR2000N Series Diagnosis for Emergency Check that the safety circuits such as the emergency stop and I O S are functioning properly There are six signals to be used and they are categorized into the three groups indicated below The it
8. doesn t exist Check the point job command and reenter it ee fa aon Check the point job command and reenter it oesn t exist Label for jump doesn t exist Check the point job command and reenter it This error occurs when the jump point number of the point job command goPoint goRPoint or palletLoop is larger than the largest point number in a program or when it will be a negative number Check the point job command and reenter it This error occurs when the pallet number designated by a point Error on Pallet Routine job command does not exist Check the point job command or Data the designated pallet routine in the additional function and reenter it CP Speed Over Reduce the CP line speed Point for goPoint doesn t exist All C amp T data from FLROM should be automatically deleted FLROM Erase Error before saving If this doesn t occur it is probably due to a hardware error i Awrite error can occur when saving C amp T data This could be a FLROM Write Error hardware error When the power to the robot is turned on the C amp T data in the storage area will be copied to the work area If these two data Teaching Data SUM Error sets are not identical this error will occur Delete the C amp T data This error will also occur if the power to the robot is turned off while saving C amp T data This message will appear when the motor power is not supplied Check the motor power supply e l the power supply connec
9. ems A F are displayed on the screen Emergency 1 Motor Power ON Signal Output of Motor Power ON Output of Emergency A Output of Motor Power ON Motor Power OFF 2 Motor Power OFF Signal IO S Emergency Switch B Output of Emergency C Motor Power OFF Valid Invalid D IO S OPEN CLOSE E Emergency Switch 3 Motor Power Feedback Signal F Detect of Motor Power Detect of Motor Power The following diagram shows the logical relationship between each signal Logical Relationship between Each Signal Motor Power Circuit s A Output of Motor Power ON A Power ON OFF Signal Power ON I I I Motor Power ON I The Motor Power ON signal is always ON due to integrated S settings for the desktop robot Power OFF I The Power OFF signal comes on when the emergency switch is E Emergency Switch ressed B Output of Emergency Power OFF signal from O S D IO S C Motor Power OFF Motor Power ON OFF Feedback F Detect of Motor Power After diagnosis be sure to check the following two results Maintenance 9 Desktop Robot JR2000N Series 1 Input Signal Check that the B Emergency Switch and D IO S signals are input normally Emergency Switch PS When the switch is pressed When the connector has short circuited CLOSE When the switch is not pressed When the connector has not short circuited OPEN 2 Emergency Stop Sequence Check the F Detect of Motor Power ON OFF indicator when
10. ernal power selector switch and the I O 1 internal external power selector switch will not be displayed Maintenance Desktop Robot JR2000N Series LED Buzzer Diagnosis Select Number Display The numbers will be LED Buzzer displayed on the program number display in order nel 33 of 00 gt 11 gt 22 gt gt 99 each time the Red LED key is pressed and the same number will Buzzer be displayed on the teaching pendant LCD Select Green LED and Red LED The red and green LEDs will switch ON and OFF each time the ENTR key is pressed and the ON OFF indicator on the LCD will change accordingly Select Buzzer Pressing the ENTR key will turn on the buzzer inside the robot and ON will be displayed on the LCD If the ENTR key is pressed again OFF will be displayed and the beeping will stop Press the ESC key to return to the Diagnostic Mode menu State of Sensor Diagnosis Select State of Sensor The screen shown to the State of Sensor right will appear a tlc ON xis Sensor Z Axis Sensor when this screen appears Move each Axis R Axis Sensor manually and check that the sensor status ON or OFF is properly displayed on the screen The indicator will be ON if the Axis goes further the initializing position in a negative direction Press the ESC key to return to the Diagnostic Mode menu The power to the motor will automatically go off
11. f briefly and then turn it on again The error message and number will be displayed on the teaching Trap Error 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 Maintenance 21 Desktop Robot JR2000N Series 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 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 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 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 Contact the dealer from whom you purchased the robot Flash ROM write error One two second beep It is necessary to replace printed circuit board A unit Contact the dealer from whom you purchased the robot The beeps sound repeatedly at 1 2 second OFF2 intervals The long and s
12. grease on the ball screw shaft and grease it LM Guide Bearing R Axis Spline Ball Screw Shaft Use recommended grease to prevent malfunction of the robot Recommended grease Shell Alvania Grease S2 manufactured by Showa Shell Sekiyu K K Maintenance 15 Desktop Robot JR2000N Series HOW TO DOWNLOAD THE ROBOT SYSTEM SOFTWARE This robot is controlled by built in robot system software and a model configuration file To upgrade the robot system software follow the instructions below Be sure to connect the robot to the PC before starting this operation The robot system software is included on the operation manual CD ROM with the following file names JRN xxx XXX jsy xxx varies according to applications XXX indicates the version number 1 Turn off the robot and remove the panel cover on the left side of the robot to slide the special mode switch to ON 2 Turnon the robot again copy the JS YLOADE software included on the operation manual CD ROM to the local disk on the PC and start it 3 Select the communication port of your PC connected to the robot and then click OK 4 Select Open on the dialog box and specify the robot system software to be downloaded Then click Send JSYLOADE i COM Status Open Send COM Status Open 5 After the transmission turn off the robot and slide back the special mode switch to OFF then reattach the panel cover on the side of
13. he cover Wipe the grease on the both sides of the LM guide rail and grease the rail LM Guide Rail a N LM Guide Y Axis 1 Remove the thirteen screws indicated by black arrows in the Screws to be Removed for Greasing on Pages 11 13 fastening the Y left and right covers and remove the covers Remove the four screws indicated by black arrows in the Screws to be Removed for Greasing on Pages 11 13 fastening the Y front cover and remove the cover Wipe the grease on both sides of the LM guide rail and grease the rail Z Mechanism 3 Axis Model 1 Remove the six screws indicated by black arrows in the Screws to be Removed for Greasing on Pages 11 13 fastening the Z cover and remove the cover Wipe the grease on the parts touching the Z Axis guide rollers and grease them Wipe the grease on the ball screw shaft and grease it Guide Roller Z Axis Zane a Ball Screw Shaft Maintenance 14 Desktop Robot JR2000N Series RZ Mechanism 4 Axis Model 1 Remove the eight screws indicated by black arrows in the Screws to be Removed for Greasing on Pages 11 13 fastening the RZ front and rear covers and remove the covers Wipe the grease on both sides of the LM guide rail and grease it Wipe the grease on the R Axis spline and grease it Grease the bearing on the upper part of the R Axis and wipe the grease that came out from the R Axis Wipe the
14. heck the condition of the enable switch optional buzzer LED and LCD functions Select an item that you wish to check Press the ESC key to return to the Diagnostic Mode menu 1 Enable Switch Optional When the enable switch is pressed ON will be displayed When it is released OFF will be displayed 2 Buzzer Press the ENTR key The teaching pendant will display ON and the buzzer will beep Press the ENTR key again The teaching pendant will display OFF and the beeping will stop 3 LED1 LED5 Pressing the ENTR turned on and off Key of Teaching Pendant Hit any key Exit with CTRL ESC F1 Teaching Pendant Enable Switch Buzzer LED1 ON LED2 OFF LED3 OFF LED4 OFF LED5 OFF Back Light ON Screen ON Changing Display Contrast Standard Teaching Pendant Diagnosis Screen key toggles between ON and OFF and the corresponding LED 1 5 will be e This is a test for the teaching pendant LED lighting For example the robot will not switch to the Teaching Mode if the LED TEACH is turned on in this diagnosis process 4 Back Light Pressing the be turned on Maintenance ENTR and off key toggles between ON and OFF and the backlight of the teaching pendant will Desktop Robot JR2000N Series 5 Screen Each time the ENTR key is pressed the teaching pendant LCD will be turned on menu ite
15. hort tones are distinguished by One long beep Two long beeps the duration of the beeps to help you identify the error types Beep sain si ONE ail OFF1 OFF2 0 6 sec 0 6 sec 1 2 sec e g 1 Three Short Beeps e g 2 One Long Beep VON OFF ON OFF ON OF 06 12 o6 1 2 06 12 seq Maintenance 22 Desktop Robot JR2000N Series JANOME 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 963818104 as of 2006 10 27 July 2007
16. ing 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 Maintenance 20 Desktop Robot JR2000N Series Error No Message Countermeasure This error occurs when the driver Z Phase signal is not output at all or if it continues to be output after rotating the 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 output during mechanical initialization 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 motor malfunction Mechanical initialization error This error occurs when the driver X Phase signal is not output or if it continues to be output after rotating the X motor according to the preset pulse output during mechanical initialization Mechanical initialization error This error occurs if the Y sensor does not open or close after rotating the Y motor according to the preset pulse output during mechanical initialization Y Sensor Motor Error If the Y motor is rotating the error has been caused by a sensor malfunction If the
17. ms are displayed and off menu items disappear 6 Changing Display Each time the ENTR key is pressed the teaching pendant LCD display will change in the following order Checkered pattern gt highlighted checkered pattern gt blank gt white gt teaching pendant diagnosis screen 7 Contrast Each time the ENTR key is pressed the teaching pendant LCD brightness and screen display will change in the following order Standard gt High gt Low gt Standard Switch Diagnosis Press or turn each switch and check that the switch status is displayed on the LCD properly Press the ESC Mode menu key to return to the Diagnostic 1 Enable Switch Optional When the start switch is pressed ON will be displayed 2 Emergency Stop Switch Start Switch Emergency Switch Increment Number Decrement Number Special Mode Switch Spare Switch When the emergency stop switch is pressed ON will be displayed 3 Increment Number When the program number increment switch is pressed ON will be displayed 4 Decrement Number When the program number decrement switch is pressed ON will be displayed 5 Special Mode Switch The current position of the special mode switch ON or OFF will be displayed 6 Spare Switch The current position of the special mode switch ON or OFF will be displayed The current positions of the I O SYS internal ext
18. pplications and those of C amp T data are different For example if you register dispensing programs in the robot s RAM and then transfer the standard application system programs to the robot it will Incorrect Use return an error when the power is turned on Delete all C amp 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 amp T data Emergency Stop 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 086 incorrect Data Version teaching data version registered in the robot Delete all teaching data or update 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 amp T data 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 087 Incorrect Data Sub Version match the teaching data version registered in the robot Delete all teaching data or update 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 amp T data This error occurs if the Z sensor does not open or close after rotat
19. ter it This error occurs if the following errors are detected during expression evaluation e 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 050 may not have been defined e Wrong brackets Wrong operators e g e Wrong argument counts or types including the numbers of array element successor functions during a function call operation Check the point job command and reenter it This error occurs if there is no IO alias specified IO Alias Error It is probable that the identifier is wrong or there is no definition Check the point job command and reenter it This error occurs if there is no COM alias specified COM Alias Error It is probable that the identifier is wrong or there is no definition Check the point job command and reenter it I This error occurs if the expression evaluation value Parameter value is out of exceeds the range range Check the point job command and reenter it Evaluate Expression Error Maintenance 19 Desktop Robot JR2000N Series Error No Message Countermeasure 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 been activated Release the emergency stop then send the start signal to perform the mechanical initialization This error occurs if the system program a
20. the robot lfyou are using JR C Points software optional the robot system software can also be upgraded by selecting Send Robot System Software from the Robot pull down menu Maintenance 16 Desktop Robot JR2000N Series ERROR MESSAGE 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 apprise 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 Be 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 Program is Empty Enter the number of an e
21. tomatically to the settings in the Administration Setting Mode after the diagnosis Maintenance 10 Desktop Robot JR2000N Series GREASE UP Screws to be Removed for Greasing indicated by black arrows i Be sure to cut off the power supply to the robot before removing AN Caution the screws or covers JR2200N Series Ne K 4 Axis Model NNO N X Cover RZ Rear Cover w vA RZ Front Cover F Y Left Cover Maintenance 11 Desktop Robot JR2000N Series JR2300N Series IBaSapasC SES SSI EOIS AR ad Je Terese San ag SiSisE shean ise Hata NA 4 Axis Mode ti AN NG RZ Rear Cover X Cover Y Front Cover Z Cover Y Left Cover Y Right Cover Maintenance 12 Desktop Robot JR2000N Series JR2400N Series ee AS r Od Oe sr ais eema V V 7 NN 4 Axis Model F il N RZ Rear Cover RZ Front Cover N N X Cover Z cover Y Left Cover Y Right Cover Maintenance 13 Desktop Robot JR2000N Series Grease Up For smooth operation and long term use of the robot grease the robot regularly approximately once every six months Grease the robot more frequently if running it long hours or repeating reciprocating movements LM Guide X Axis 1 Remove the four screws indicated by black arrows in the Screws to be Removed for Greasing on Pages 11 13 fastening the X cover and remove t
22. tor or one of the thermal protectors is defective check the connection for the parts l the power source is defective replace the power source unit Motor Power Supply Error 42 HOD ON SCA SOIL Check the point job command and reenter it This error occurs when there are more than 30 callJob or 043 callJob Nesting Error callBase nests in a single point job routine Check the point job command and reenter it oa Tori Cale Teg Check the point job command and reenter it oesn t exist Maintenance 18 Desktop Robot JR2000N Series Error No Message Countermeasure This error occurs when there are more than 30 callProg or callProg Nesting Error callPoints nests in a single point job routine Check the point job command and reenter it This error occurs when there are more than 30 for or do nests for do Nesting Error in a single point job routine Check the point job command and reenter it oe for Calves goes Check the point job command and reenter it This error occurs when a next corresponding to a for or a loop corresponding to a do does not exist 048 for next do loop Error It also occurs when a next or a loop appears even though a for or a do does not exist Check the point job command and reenter it This error occurs if identifiers are overlapped using a declare command or if the variable range is impossible 049 Creating Local Variable Error when generating a local variable Check the point job command and reen
23. ve data from the robot then save the retrieved data in a file The data sent and received between the robot and the PC is the combination of teaching data and customizing data The unit of data is called C amp T data Since the data is sent and received as a unit you cannot send or receive any one specific program Receive Send Data Storage area Work area Backup data The robot has a data storage area and a work area When you start the robot the C amp T data in the storage area will be copied to the work area The copied data is used for running and teaching The data in the work area will be deleted when the power to the robot is turned off When retrieving data from the robot it will come from the work area After sending data from the PC to the robot the sent data will be saved in the storage area automatically via the work area e If you are using JR C Points software optional it is also possible to back up the data by selecting Receive C amp T Data from the Robot pull down menu Maintenance 1 Desktop Robot JR2000N Series TROUBLESHOOTING Self Diagnosis When an error has occurred during operation or teaching the error number and error message will be displayed on the teaching pendant LCD lf an error has occurred during operation the robot will stop running Fix the problem according to the error message If the teaching pend
24. xes to its initial positions Press the ESC key to return to the Diagnostic Mode menu drive on this screen Diagnostic Mode a Always pay special attention to the robots movement in the Caution Position of Sensor Diagnosis Press the F 4 INIT key according to the Position of Sensor instructions on the LCD The mechanical BOOR 20 Y Axis Sensor Z Axis Sensor R Axis Sensor initialization will start After the mechanical initialization the screen shown to the right will appear The phase error between the target stop position and the zero phase of each Axis motor will be displayed Check the phase error between the sensor position and the zero phase of the motor CHANGE SENSOR Maintenance 7 Desktop Robot JR2000N Series Press the F 0 CHANGE key to change indicator to OK or Fault Press the F 1 SENSOR key to change the screen display to the current sensor state display indicator will change to ON or OFF Press the F 4 INIT key to perform the mechanical initialization again and refresh the display Diagnostic Mode i Always pay special attention to the robots movement in the Caution If the error is within a range of 25 it is functioning properly If the error is not within a range of 25 adjust the Axis sensor while referring to the service manual HOW TO ADJUST THE SENSOR for your robot or conta
25. xisting program For example a CP passing point following a PTP point will 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 as in a CP 007 Position is out of range 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 An dor Idi corresponding to an anb or orb does not exist in the condition commands There are more than 30 then else or timeUp nests in a 008 Error on Point Job single point job routine A then else or endlf command does not have a corresponding if command A timeUp or endWait command does not have a corresponding waitCondTime or waitCond command Check the point job command and reenter it Maintenance 17 Desktop Robot JR2000N Series Error No Message Countermeasure This error includes the following cases When a then or else corresponding to an ifis missing then else for if doesn t exist When non condition commands are entered between an if and a then or else Check the point job command and reenter it endlf for if
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