"We have demonstrated we want a dialogue with Europe on the nuclear energy question. A dialogue based on mutual respect will bear fruit," Kharazi said after talks in Madrid with Spanish counterpart Ana Palacio.
The international community has been urging Iran to sign up to more intrusive international inspections of its nuclear programme amid fears it is working on weapons grade material.
Kharazi said on December 6 in Tehran that Iran would sign a protocol agreeing to inspections "in the next few days" in accordance with the nuclear Non-Proliferation Treaty (NPT).
Palacio said the European position was clear -- seek agreement through dialogue.
"The international community expects first of all for Iran to sign the protocol on non-proliferation," Palacio said.
"Secondly, to suspend the enrichment of uranium and comply with inspection obligations.
"This is part of our dialogue with Iran, which we value," said Palacio.