Connect Interface Box to Haas Machine:

The robot safety devices interface box 32-9018 has magnetic mounts to attach to the machine sheet metal. Mount the interface box [1] as shown in the picture.

Route the interface electrical cables [2] along the enclosure with the magnetic mounts and zipties. Route the cable through the bottom of the electrical cabinet.

NOTE: For information on upgrading the interface box to the Robot Safety Devices Interface Box, refer to the Robot Safety Devices Interface Box - Installation - AD0703. 

Connect Interface Box to Haas Control Cabinet:

Connect cable 33-8562C E-STOP terminal block to TB-1B [1] and connect the Setup mode terminal block to TB-3B [1] on the SIO PCB.  

Plug the user relay into K9 and K10 [2].

Verify the jumper is installed on the SIO PCB at JP1.

Connect the pigtail cable labeled P1 SIO to the SIO PCB at P1 [3]

NOTE: If the machine has a Regen Vector Drive, unplug cable 33-0634 FILTER OV TO IOPCB P1 from P1 SIO and plug it into the connector FILTER OV FAULT on cable 33-8562C. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (33-0636).  Connect the USB connector end to the Maincon PCB J8 top port. Add a ferrite filter [6] to the USB adapter.

Mount the 24VDC Power Supply [7] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8562C. Connect cable 33-1281 [8] to the 24VDC Power Supply [7] and plug into P3 on the PSUP PCB. 

For MM/SMM CM/CL machines Without XMR

If P3 is occupied by a jumper connected from P3 [10] to P7 [9] on the PSUP PCB, a splitter cable is needed to allow the 24VDC power supply [7] to be connected to the 120VAC connectors on the PSUP. Connect the male connector of the splitter cable to P3 [10] and then connect the jumper from that cable to P7 [9] and also cable 33-1281 [8].

Note: Make sure that the jumper cable is connected where the red lines up with the red from the splitter cable.

Inside the Cobot control box, install part of the robot signals cable (33-1272 or 33-1351).  To do so, remove the safety connector [1] from the Cobot control box in order to install the different colored wires into their respective location

33-1272 / 33-1351 cables [2] going to safety connector:

• Gray wire to top 24V
• Red wire to bottom 24V
• Green wire to EI0
• Brown wire to EI1
• Jumper [3] from SA0 to SA1
• Jumper  [4] from SB0 to SB1

 NOTE: The rest of the wires from this cable are not used. Put some electrical tape on each wire lead and Ziptie the leftover unused wires. 

Important: After installing all the cables from the robot signal cable, make sure that the fuse [1] remains installed at all times to protect the Cobot control box.

Connect Cobot to the Interface Box:

Connect the RJ45 ethernet cable [1] from the Cobot Control Box to the interface box. Add a ferrite filter [2] to the RJ-45 cable.

Connect the robot signals cable [3] from the Cobot Control Box to the interface box. 

Connect the 120 VAC Cobot Power Cable [4] to the external power source. 

Connect the robot power cable [5] from the control box to the Cobot.

Connect the teach pendant cable [6] from the control box to the teach pendant. 

NOTE: For more information regarding interlock fence, area scanner or light curtain installation, refer to the Robot Safety Device section below.

Steps 7 thru 10 are wiring and hose routing instructions for the pneumatic grippers. Refer to the grippers installation section lower on this page for the mechanical installation.

Install the dual air solenoid assembly on to the side of the pedestal while giving the airlines enough slack. Make sure it's in a position where it will not be in the way. Route the airline [1] under the machine back towards the CALM cabinet as shown.

Inside the CALM cabinet, remove a plug from one of the CALM manifold ports and install the check valve [1] (58-1863) onto the port's fitting. Route the input airline [2] from the dual air solenoid assembly (from previous step) into the CALM cabinet and connect the airline to the check valve.

Turn the machine air supply ON.

Make sure to power OFF the control box [1].

Connect the solenoid cable from the dual air solenoid assembly [2] into the Digital Output on the Cobot control box [1]. Remove the connector from Cobot control box.

Connect the gripper solenoid power cable (33-1276 / 33-1341) to the Digital Output terminal inside the control box. Install the different colored wires into their respective location:

• Black/white cable into 0V
• Black cable into DO0
• Orange/white cable into 0V
• Orange cable into DO1
• Red/white cable into 0V
• Red cable into DO2
• Brown/white cable into 0V
• Brown cable into DO3

Power ON the control box.

Power ON the Haas machine. 

Power ON the Cobot by flipping the power switch [1].

Power ON the Cobot teach pendant by pressing the circle [2]. 

Make sure that E-STOP [3] on the Cobot teach pendant is released. 

In order to change the language, click on the language drop down menu. Choose EN for English. To confirm this setting change, the Cobot teach pendant will have a popup asking to insert the username & password. 

Enter "admin" for both the username and password. 

Note: The Cobot teach pendant will have a popup asking to insert the username & password. To sign into the teach pendant use these credentials:

• Username = admin
• Password = admin

Go into Run mode. Press Enable. 

Go into Jog mode [1].

Move each joint to it's zero location with the Move Zero buttons [2]. 

Once the robot is in it's zero location, verify that the hash lines [1] align on either side of each joint on the Cobot. 

 IMPORTANT: If any joint hash lines [1] do not align, jog the specific joint accordingly until all the hash lines [1] do align. This position will be set in the next step as the new Cobot zero position.  

Connect an ethernet cable [2] from the Cobot control box into a computer.

On the computer, change the adapter setting to enable the ethernet port. 

Note: See next steps for help on changing adapter settings.

To change the adapter settings, open the settings page [1] on the computer, then click on Network & Internet [2] which will bring up the network status page.

Click on Change adapter options [3] then right click on Ethernet [4] and open up the properties window [5]. From there select the Internet Protocol Version 4 (TCP/IPv4) [6] option and click Ok. 

The ethernet settings will now be correct. Open a web browser window and type in the IP address of the Cobot[1]. 

Note: This is the same process as connecting a laptop to an HRP-1/2/3. For more information on connecting to the Cobot via ethernet, refer to the video on the HRP-Troubleshooting page that is in the Connect & Jog Haas Robot section. 

Download HRTool through HBC. On the Service section of HBC, navigate to Utilities > Documents and Software > 01 Control Software > 01 Next Generation Control > 10 Cobot Software > HRTool.zip.

Unzip the folder and navigate to HRToolsMaind.exe.

Insert the Cobot IP address found under the Systems tab.  Click Set. 

Go to the Config tab on HRTool.

Click "get" to see the actual vs. theoretical encoder values. 

Click "set" to set the theoretical to the actual encoder values. This step sets the Cobot's current position as it's new home position. 

Make sure that each joint's actual and theoretical encoder values match. 

NOTE: If the valuyes do not match, press "Set" again. 

On the teach pendant, navigate to System [1] and then Update System. 

Confirm the Cobot firmware [2] is either:

• HR5.51H.16.beta.20231213.zip
• HR6.4.9.tmp.20240919.zip

NOTE: Firmware version HR6.4.9.tmp.20240919.zip is compatible with all size cobots.

Refer to the Haas Cobot - Maintenance chapter for the firmware update procedure. 

Turn on the Haas CNC.

Zero Return all Axes.

Insert Service USB key.  Go into Service mode.

Go to Parameters> Factory tab.  Change the following:

• 1278 [1278:] Robot Ready E-Stop Enabled to TRUE
• 2191 [694:] LIGHT CUTAIN TYPE to LC_TYPE_1
• 2194 [:] Enable Front Door Fully Open Switch to TRUE

Note: Machines with Software Version 100.20.000.1010 or higher will need to change the following parameter:

• 2192 [:] Light Curtain Trigger Threshold to 0

Press [SETTING].

Set the Settings:

• 372 Parts Loader Type to 3: Robot.
• 376 Light Curtain Enabled to On

On the Haas pendant, press [CURRENT COMMANDS].

Go to Devices>Robot>Jogging tab. Change the following:

• Maximum Jogging Speed to 7.9 inch/sec

 Note: The jogging increments on the RJH are a percentage of this max speed value. In order to decrease the distance the robot travels of each jog wheel tick, you need to change your Maximum Jogging Speed to a lower value.

Go to the Setup tab. Change the following:

• Max Robot Speed to 118 in/sec (2000 mm/sec). 
• Enter the Net Mass of the gripper. Refer to the layout drawings on our website (Single Gripper layout drawing OR Dual Gripper layout drawing) to get the correct value for this setting

• Number of Grippers to the number of grippers.
• Raw Gripper Clamp Output to 1.
• Raw Gripper Unclamp Output to 2.
• Raw Gripper Clamp Delay to the clamp/unclamp duration in sec.
• Raw Gripper Clamp Type to OD/ID.
• Finish Gripper Clamp Output to 3.
• Finish Gripper Unclamp Output to 4.
• Finish Gripper Clamp Delay to the clamp/unclamp duration in sec.
• Raw Gripper Clamp Type to OD/ID.

Based off the risk assessment, set the appropriate security risk level on the Cobot teach pendant. Navigate to Config > General Restrictions and tap of the desired security risk level [1] from 0 - 5.

Use the  "admin" code in the safety verification to change the security level.

NOTE: When the security risk level is lower, the robot will have a lower maximum speed, force, etc. When the security risk level is higher, the robot will have a higher maximum speed, force, etc. 

This security risk level will calculate the maximum allowable force, speed, power, momentum, elbow speed and elbow force [2] that the Cobot will withstand before Alarm 9150.10017 Collison Stop Error is triggered. 

IMPORTANT: The robot's programmed speed cannot be greater than the allowable speed from the security risk level. 

NOTE: For more information regarding alarms, refer to the Haas Cobot - Troubleshooting Guide. 

Download and load the configuration files by logging into the HAAS SERVICE PORTAL.

Download the safety automation option front/side configuration files.

Load the option configuration patch file to the control. Refer to the NEXT GENERATION CONTROL - CONFIGURATION FILE - DOWNLOAD/LOAD procedure.

Go to Parameters > Features > Robot to verify that the robot feature has appeared on the bottom.

Press [CURRENT COMMANDS].

Go to Devices>Robot>Setup tab [1].

Press [E-Stop].

Press [F1] to connect the robot[2].

The first time connecting a robot to a machine, the robot feature will need to be unlocked. This popup shows the machine's current software version, robot mac address and a generated code. Enter this information into HBC in order to receive the unlock code.

On HBC, go to the Service tab [1].

On the left hand side of the screen, click on Activations [2], and then select Cobot Installation [3] to begin the process to the get the Cobot unlock code.

The first step is to enter the Machine Serial Number [4] and the Cobot Serial Number [5] in the fields on HBC.

Once you have entered the correct information, press Next [6] in the bottom right corner and continue through the steps until you receive the unlock code.

Note: Make sure you are on the Cobot Installation tab [3] and not the Robot Installation tab. The Robot Installation is only used for the Haas Robot Packages. Using the Robot Installation for the Haas Cobots will result in an invalid unlock code.

Enter the Cobot's Haas Serial Number[1] and the unlock code to connect the robot to the machine. 

 Note: This step can only be completed by a HFO Service Technician.

 Note: The machine needs to be activated before the Cobot is activated. Follow the Machine Activation / Time Extension - NGC procedure.

When the robot has connected with the machine, a yellow message saying Robot Activation Successful should appear at the bottom of the Haas screen.

Release the [E-STOP] and press RESET to clear the alarms. 

Press the [HANDLE JOG] button. 

Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.

 Note: The robot in setup mode can only be handle jogged while the F2 button the RJH is pressed. See Setup/Run mode section below.

On the Remote Handle Jog Touch press the Joint button to go into the Joints Coordinates.

Move the robot to an accessible location to install the grippers.

Jog J6 to 0.0000 position. The location hole should be centered on top.

Note: Press [E-STOP] before working on the robot.

For the Dual Action Gripper:

There are two versions of the dual-action grippers for this section, both of which have the same installation process.

Jog the robot so that the location hole [1] is centered on top.

Install the adapter plate [2] onto the end of the robot arm.

Install the dual gripper assembly [3] onto the adapter plate [2].

NOTE: Make sure to install Gripper 1 (which has the orange and purple zip ties) onto the Gripper 1 adapter plate section. 

For the Angled Single Action Gripper:

Jog the robot so that the location hole [1] should be centered on top.

Install the angle adapter plate [2] to the end of the robot arm.

Install the single gripper assembly [3] onto the angle adapter plate [2]. 

To install the bar gripper fingers, remove the slug gripper plates from the gripper bodies.

Install the Bar Gripper Bolt Plates [3] with (x8) SHCS M6 screws [4]. Torque to 10 ft-lbs.

Install the Bar Gripper Fingers [2] with (x8) SHCS 1/4-20 [1]. Torque to 13 ft-lbs.

Configure the dual air solenoid assembly used for pneumatic grippers depending on single [1] or dual [2] gripper configuration. 

For single grippers [1], connect the incoming air to the to the fitting [2] and keep the plug in the other end of the fitting [3] as shown in the image.

For dual grippers [4], remove the plug in the fitting [3] and attach a small air hose to the second solenoid [5]. Then connect the incoming air hose to the fitting [2] so that both solenoids are receiving air.

For the Single Gripper:

Route the (x2) air lines from the gripper to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the Cobot. Make sure there is enough slack so that cables aren't strained when Cobot is fully extended.

Insert the input air hose to the used solenoid's fitting [1]. 

Make sure the plug is installed onto the unused solenoid's fitting [2]. 

For the Dual Gripper:

Route the (x2) air lines from gripper #1 to the same color coded fitting on the dual air solenoid assembly. 

Route the (x2) air lines from gripper #2 to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the Cobot. Make sure there is enough slack so that cables aren't strained when Cobot is fully extended.

Insert the short airline [1] connecting the first solenoid with the second. 

Insert the input air hose to the fitting [2]. 

If the parts table option was ordered, follow the procedure below for assembly instructions:

NOTE: If HC10 MACHINE READY KIT was purchased, there is no need to install the wheels if mounting the parts table directly into the wooden pallet.