How can I setup confirmation email, such that it is sent to users every time they submit the form?

Right now the auto-responder email is sent only once with the edit link to the users.

If the users edit and resubmit the form, no confirmation email is sent. How can I set this up? 

Hello enterpriseforce,

That is correct. Please be noted that auto-responder email alert will only trigger for the first time form is submitted. When the submission is edited, the autoresponder email will not be sent. 

You may like to check the following thread on which one of my colleague provided a workaround to achieve your requirement: http://www.jotform.com/answers/138953-How-to-send-autoresponder-when-a-form-submission-is-edited 

Hope this helps.

Do get back to us if you have any questions.

Thank you!