登录至 hbc.haascnc.com

说明：仅 Haas 认证的服务技术人员才能登录此站点。

 注意： 确保已停用弹出窗口阻止程序。

选择 “Service（维修）” 选项卡[1]。

选择“实用程序”菜单 [2]。

选择“文档和软件”[3]。

导航到“协作机器人软件”文件夹。

要进入该文件夹，请选择 Control_Software > 下一代控制器 > 协作机器人软件。

选择要在协作机器人上加载的固件。HBC 上提供 2 个固件版本。

根据要加载到协作机器人的固件，输入 HR5.51H [1] 或 HR6.4.9 [2] 文件夹。

下载文件夹中的 HRxxxx.zip 和 HAdapter.zip。

说明：各个 HAdapter.zip 文件的命名相同，但它们是不可互换的。例如，需要下载 HR5.51H.zip 和 HAdapter.zip [3]，而对于 HR6.4.9.zip HAdapter.zip [4] 也需要下载。

注意：请参阅软件兼容性表，以确保协作机器人与您尝试更新的软件兼容。

导航到控制器顶部工具栏上的 HRApp 选项卡 [1]。

按左下角的删除按钮 [2]。

Reboot the control box after the plugin is deleted.

Press the dropdown menu [1] in the top right corner and then press the "Restart" option [2].

Press confirm [3] to restart the control box.

Open up the control box and connect the USB that contains both the firmware zip file and the HAdapter.zip file from HBC.

There are two USB ports inside the control box [1]. The USB can be connected to either of them.

Once the control box is rebooted, sign back into the teach pendent using "admin" for the username and password.

Navigate to the System Upgrade page by pressing the dropdown menu in the top right corner [1] and then pressing the System option [2].

Press the System Upgrade option [3] to bring up the page.

The page displays the firmware version currently installed on the control box [1]. 

To load the version that you want, press the bowse button [2] to bring up the file explorer page. Select the HR.zip file from the USB.

Note: You will see the file you selected in the field next to the browse button [3]. For example in the image HR.6.4H.tmp.20240919.zip was selected from the USB.

Wait 5 - 10 seconds for the firmware version to fully load. On some versions there is a status bar [4]. Wait for it to reach 100% if it is there.

Press Update immediately [5] to update to the selected version.

Wait for the system to upgrade. 

The control box will reboot on its own after the upgrade is complete.

After the system reboots, the plugin file HAdapter.zip still needs to be loaded. Continue to the next section for installing the plugin file.

Sign back into the teach pendant using "admin" for the username and password.

Navigate to the HRApp page by pressing the HRApp icon on the toolbar at the top of the screen [1].

Note: There should be no file listed in the Plugin List at this time. The plugin file should have been deleted before the firmware version was loaded to the control box.

Press the import button [2] in the bottom left corner of the screen.

Press the browse button [3] and select the HAdapter.zip file from the USB. 

The file will show in the field when it is selected.

Press the import button on the popup menu [4] to load the plugin. 

Confirm that the plugin file was loaded successfully to the control box. Verify that the HAdapter version is correct according to the firmware version listed below:

• HR5.51H.16.beta.20231213.zip needs plugin Version 1.14
• HR6.4.9.tmp.20240919.zip needs plugin Version 3.14

If the correct plugin version is shown [1] shut down the control box and let it sit for 2 - 3 minutes before turning it back on.

To shut it down, press the dropdown menu [2] in the top right corner and then press the "Shut down" option [3].

Wait for the control to fully shut off, and then wait 2 - 3 minutes before powering back on.

Verify that the cobot can be connected and jogged from the Haas machine to confirm there are no issues when using the cobot.

协作机器人示教控制器将会弹出一个窗口，要求输入用户名和密码。在“用户名”和“密码”字段中都输入“admin”。

进入运行模式。按“启用”。

进入点动模式 [1]。

使用“移动零点”按钮 [2] 将每个关节移动到零位。

机器人处于零位后，验证哈希线 [3] 是否与协作机器人每个关节的两侧对齐。

将以太网电缆 [4] 从协作机器人控制柜连接到计算机。

更改适计算机配器设置以启用以太网端口。 

下载 HRTool。

解压缩文件夹并导航到 HRToolsMaind.exe。 

输入“系统”选项卡下显示的协作机器人 IP 地址。单击设置。

转到 HRTool 上的配置选项卡。

单击“获取”以查看实际编码器值和理论编码器值。

单击“设置”将理论编码器值设置为实际编码器值。

确保每个关节的实际编码器值和理论编码器值匹配。