This document explains how to assemble and install the Haas Automatic Parts Loader (APL) for a VMC machine.

Machine Requirements:

• VF-1/2 & VM-2 Built 4-1-2019 and later
• Haas Autodoor (See machine requirements for CAN Auto Door)
• Remote Jog Handle - Touch
• I/O board updated to 34-349xB or later
• I/O PCB HINGE DOOR. 93-1000297 I/O DOOR ASSY HINGED
• NGC/Software Version 100.19.000.1100 or greater
• SMTC 30 or 50 Pocket
• Check the Layout Drawing document for Machine Specifications

Note: The automatic vise is not included with the mill APL. It must be ordered as an additional option.

Note: Before installing the APL make sure that the mill is leveled and the distance from the floor to the casting is 3 inches.

Complete the following on both sides of the door:

• Remove the autodoor motor cover [1]
• Remove the autodoor motor assembly [2]
• Install the new proximity switch bracket [3] to the existing proximity switch block [5]
• Install the door always open proximity switch [4] to the bracket [3]

• Install drill guide [2] for the door open flag [1]
• Drill and tap 2x 10-32 holes through the sheet metal of the door
  • Drill size: #21 or 5/32"
  • Tap 10-32 NF
• Remove the template and install the door open flag with 2x flat head cap screws
• Re-install the autodoor motor assembly, bracket, and cover
• Use provided shims to set the height between the proximity switch and the door open flag

• Move the Remote Jog Handle (RJH) to the opposite side of the control pendant

• Move the air gun hose mount [1] to the opposite side of the tool rack
• Drill holes in the tool rack for the 1/4"-20 screws
  • Use a  H (17/64") drill to make clearance holes 

• Bring the APL approximately 35 inches (89 centimeters) from the front of the machine - measure from the APL pillar to the seam between the sheet metal panels on the front of the machine
• Remove the back panel shipping bracket [1]
• Secure the back panel [2] to the support bracket [4]. Leave screws loose
• Maneuver the APL until you can attach panel [2] to [3]
• Tighten all screws

• Turn the air supply OFF
• Inside the CALM cabinet, remove the NPT plug [1] from one of the CALM manifold ports and install the push to connect fitting
• Route the air line from the APL solenoid rack to the CALM cabinet and connect it to the fitting

• Level the APL base with the bubble level on top of the APL table
• Use the leveling screws at the bottom of the APL base to level the APL front to back [1] and side to side [2]
• When done with leveling make sure that all four leveling screws make contact with the floor
• Place the level on top of the horizontal beam [3]
• Loosen the bolts that secure the beam to the pillars
• Lift or lower the right side [2] of the horizontal beam until it is leveled
• Tighten the bolts that secure the horizontal beam to the pillars

• Remove the APL arm shipping bracket [1]

• Remove the table shipping brackets [1], [2]

• Remove the AW axes sheet metal shroud [2]
• Remove the AU and AW axes shipping brackets [1]

• Install the AU, AV and AW axes amplifiers in the respect with the decal labels on the amplifier fan bracket 

Note: AU axis amplifier [1] shown on the picture

• If the machine was built with the single lead DC buss cable (33-04901B) you will need to replace it with the dual lead DC BUS cable (33-0052C) provided with the kit
• Before working on this cable, power the machine OFF and allow the Vector Drive capacitors to discharge until the red light [1] on the Vector Drive is OFF
• Remove the old cable that supplies DC voltage from the Vector Drive terminals 2 and 3 to the amplifiers
• Install the new dual lead DC BUS cable (33-0052C) as follows:
  • Connect the end with the ring terminals [2] to the terminal 2 and 3 on the Vector Drive:
    • The white lead that is labeled TB2 "+" to the terminal 2
    • The black lead that is labeled TB3 "-" to the terminal 3
• Route the longer cable through the fan bracket under the amplifiers and connect it to the "+" H.V. and the "-" H.V. terminals on the left most servo amplifier [3] as labeled
• Connect the remaining cable to the "+" H.V. and the "-" H.V. terminals on the right most servo amplifier [4] as labeled

• Route the AU, AV and AW axes power cables through the opening on the bottom of the control cabinet
• Connect the power cable leads to the high voltage terminals Note: The AV axis power cable leads are labeled PH-A, PH-B and PH-C due to a different color scheme. Connect as follows::
  • red to RED [1]
  • white to WHT [2]
  • black to BLK [3]
  • PH-A to RED
  • PH-B to WHT
  • PH-C to BLK

• Connect the ground wire [4] to the bracket for the amplifier fan
• Find the high-voltage terminals [5] on the nearest amplifier
• Find the high-voltage terminals [7] on the amplifier
• Install the jumpers [6] from the installation kit between these terminals
• Connect the black wire to -H.V. Connect the red wire to +H.V.

• Connect the current command cables to the connector near the top of the each amplifier [1]
• Connect the other ends of the cables to the AMPLIFIER COMMAND outputs on the NGC PCB [2] as follows:
  • AU axis to the output 13
  • AV axis to the output 15
  • AW axis to the output 16
• Route the U, V and W axes encoder cables through the opening on the bottom of the control cabinet and connect them to the ENCODER inputs on the NGC PCB [3] as follows:
  • AU axis to the input 13
  • AV axis to the input 15
  • AW axis to the input 16
• Route the AW axis brake cable into the control cabinet and connect it to P3/4/5 on the SIO

Install the SMTC PCB [1] onto the SIO door using the standoffs [2] and the screws [3].

Interconnect the SMTC PCB cables as shown on the diagram.

If the machine has a Smart CAN auto door, plug cable 33-1518 into P15 on the SIO board. 

Attach the APL E-Stop as shown and route the cable along the bottom so that it groups up with the other cables that route to the control cabinet.

Connect the APL E-Stop button wire to TB1 on the I/O Board.

Remove jumper from JP1 on the I/O PCB.

Change factory setting: 1278 [1278]: Robot Ready E-Stop Enabled to True

• Place the machine side light curtain mount flush with the bottom and side of the door opening as shown in the picture
• Mark off hole pattern
• Drill holes using a #14 drill (3/16")
• Install light curtain mount and self-tapping screws [1]

• Remove the tool tray plastic insert [1] to gain access to the screw to remove the tool tray
• Remove the tool tray [2]
• Place two screws into the bracket [3]
• Install 4x 40-1985 sheet metal screws [4] leave screws loose to aid with alignment of the APL. Tighten once APL is aligned.
• Re-install the tool tray in addition to the tool tray spacer included in the install kit

• Assemble the light curtain brackets [1]
• Note: The light curtain kit contains the transmitter and the receiver. You can identify these by the sticker on the side of the housing. It is labeled "RECEIVER" [2] and "TRANSMITTER" [3]
• When installing the light curtains make sure that the end with the cable connection is on the bottom
• Install the light curtain receiver [4] on the mill side
• Install the light curtain transmitter on the APL side on the bracket next to the pendant
• Make sure that the transmitter and the receiver are pointed at each other before tightening the mounting bolts

• Route the light curtain transmitter cable [1] using regular cable clamps and magnetic cable clamps under the sheet metal alongside the base of the APL, around the back of the APL, and up the cable pillar
• Include the cable into the main bundle [3] and route all cables around the autodoor cover and down the first cable channel across the top of the door
• Route the light curtain receiver cable [2] along the side of the door opening past the pendant
• Add this cable into the bundle and then route all of the cables through the second cable channel toward the back of the machine
• Use cable wrap around any exposed cables
  • Wrap the cables between the main APL cable channel and the autodoor motor cover
  • Wrap the cable between the second cable channel on the roof of the machine and the lube cabinet

Use the provided velcro patch to attach the 24VDC power supply to the right wall inside the control cabinet.

Interconnect the light curtain cables as shown on the diagram.

If plugs P5/6/7 are not available on the PSUP PCB. Remove a fan power cable from P5/6/7 and plug in 33-7180 CBL FAN ADAPTER TO DUAL FAN. Plug in the fan power cable and light curtain power cable into 33-7180.

• Note: APL's ship with the AW servo motor brake cable disconnected as a safety precaution.  This is to prevent the AW axis from dropping if the APL has not been enabled in the control.
  
• Connect the AW axis servo motor brake cable
• Power Up the machine with the E-STOP depressed
• Before releasing the E-STOP, navigate to the CURRENT COMMANDS screen and make sure that the AUTOMATIC PART LOADER tab is visible.
• Navigate to the ALARMS AND MESSAGES and make sure that there are no active alarms associated with the AU, AV and AW axes
• Warning:  If the APL is left disabled and the E-STOP is released the AW axis will fall
• Release the E-STOP and zero return the machine

• Set Grid Offsets for AU, AV, and AW axes:
• Zero Return AU, AV, and AW
• Go to the Diagnostics Tab> Parameters > Factory Settings
  • Press AU + F4
  • Press AV + F4
  • Press AW + F4

• Mount an indicator base clamped to the gripper [1] 
• Jog the AU axis and measure the offset between the dowel pins [2] on the APL table to verify the table is in line with AU axis motion - NTE 0.060" (1.5mm).

• Jog the AU and AW axes to place the gripper [1] in front of the automatic vice [2]
• If necessary move the APL base [3]  front to back until the stock is aligned with the vice
• Note: Make sure the entire APL assembly stays perpendicular with machine when you move the base
  

• Use a pen [1] to put a mark on the floor at the location of each foot.
•  Note: Turn the feet to the sides of the APL to avoid a tripping hazard.
• Drill [2]  Ø 0.50" (13 mm) hole in each mark.
• Drill the hole to a depth of 2.0" (51 mm).

• Put the foot [3] over the hole [4]
• Put an anchor [2] into the hole
• Use a hammer [1] to tap the anchor
• Tap the anchor until it is at the bottom of the hole
• Put a washer [6] and a nut [5] on the bolt
• Torque each nut to 55 ft-lb (75 Nm)

 Warning: If you turn Setting 372 to None, the AW - axis will drop if not supported or disconnected. Do one of the following:

• Jog to a safe location
• Unplug all APL cables BERFORE releasing E-STOP
• Unplug AW brake BEFORE releasing E-STOP

To disable the APL to run the machine in stand-alone mode. Press [SETTING]. Change the following Settings:

• 372 Parts Loader Type to 0: None
• 376 Light Curtain Enabled to Off

This document explains how to assemble and install the Haas Automatic Parts Loader (APL) for a Lathe.

Machine Requirements:

• NGC/Software Version 100.19.000.1100 or greater
• ST-10/15/20/25 Reboot Sheet Metal (Flat Face)
• Autodoor
• RJH-T
• I/O PCB Hinge Door. 93-1000297 I/O DOOR ASSY HINGED
• Check the Layout Drawing document for Machine Specifications such as Turret and Y-Axis requirements 

NOTE: Before installing the APL make sure that the lathe is leveled and the distance from the floor to the casting is 3 inches.

Remove the auto door cover [1].

Use the provided drill guide [1] to drill the mounting holes for the DOOR FULLY OPEN status switch.

Align the right most hole on top of the drill guide that is marked with one slot [2] with the autodoor cover mounting hole to the left of the auto door motor and secure it with the BHCS.

ST-10/15:

• Drill the two Ø 3/16" (4.7mm) mounting holes through the drill guide holes that are marked with one slots [3].

ST-20/25:

• Drill the two Ø 3/16" (4.7mm) mounting holes through the drill guide holes that are marked with the slots on both sides [4].

Using the provided self tapping screws, install the DOOR FULLY OPEN switch assembly [5] and the DOOR FULLY OPEN trip flag [6].

ST-10/15:

• Align the right most drill guide hole [1] that marked with three slots next to it with the existing pemnut on top of the roof panel and secure it with the BHCS.
• Drill the four Ø 11/32" (8.7mm) mounting holes through the drill guide holes [2] that are also marked with the three slots.

ST-20/25:

• Place the drill guide up against the cable cover [3] flange as shown in the picture.
• Drill the four Ø 11/32" (8.7mm) mounting holes through the drill guide holes [4] that are marked with the three slots.

Install the support pillar [6] onto the machine (with the beam mounting flange [5] facing the front of the machine) using the BHCS and the nuts on the underside of the roof panel. 

For machines with a Light Curtain and Small Tooling Tray:

Remove the tooling tray bracket that is attached to the bottom of the pendant.

ST-10/15:

• Place the drill guide [1] against the front panel, 8 inches (203mm) away from the right corner of the enclosure.

ST-20/25:

• Place the drill guide [1] against the front panel, 17.75 inches (450mm) away from the right corner of the enclosure.

Drill the four Ø 3/16" (4.7mm) mounting holes through the drill guide holes [2] that are marked with two slots.

Remove the drill guide and attach the tooling tray [3] to the front panel using four self tapping screws [4].

For machines with a Light Curtain and Large Tooling Tray and Tooling Tray Bracket Adapter.

Remove the tooling tray bracket that is attached to the bottom of the pendant.

Place the Tooling Tray Bracket Adapter 10.25"[1] above the door rail cover and 10.5"[2] from the door opening.

Drill the four Ø3/16" (4.7mm) mounting holes through the Bracket Adapter holes and attach the Tooling Tray Bracket Adapter to the front panel using four self tapping screws.

Mount the Tooling Tray to the Tooling Tray Bracket Adapter with button head cap screws.

Turn the air supply OFF

Inside the CALM cabinet, remove the NPT plug [1] from one of the CALM manifold ports

Install the push to connect fitting [2]

This is where the air line from the APL solenoid rack will be routed to the CALM cabinet

• Remove table shipping brackets [1]
• Remove AW axis shipping bracket [2]

To set the AU axis square to the AW axis. The bridge may be shimmed with washers[1]. These will be placed between the bridge and the shipping pad when at its shipping position.

When installing an APL look carefully for these washers [1] as you unbolt and raise the bridge. If you find washers [1] then move them to the upper pad on the same column when reinstalling the bridge.

• Move the beam from its shipping position to the top of the columns [3] using the lift fixture [1]
• Leave the lifting brackets on so you can level the beam later after you power the APL and level the table

Remove the AU axis shipping brackets [1]  that are located on the back of the AW axis carriage.

Remove the AU axis servo motor cover to gain access to the W axis shipping brackets [3].

Remove the AW axis shipping brackets [3].

Reinstall the AU axis servo motor cover [2].

Air supply should be connected, if it is turn it off.

Remove the shipping brackets [1] from the rotator.

Reinstall the bolts.

 NOTE: The gripper assembly will rotate in position as soon as the air supply is turned back ON.

Route the AU and AW axes cables with the air lines down through the pillar [1].

Connect the air lines to the solenoids in accordance with the decal.

Install the provided conduit tube over the air lines to protect it from damage.

Connect each solenoid cable to the corresponding connection on the manifold bracket under the solenoids.

The cable carrier bracket [1] and its hardware can be found in a bag zip tied to the APL.

Install the cable carrier bracket [1] as shown with the provided hardware.

Verify that the bracket [2] is sitting on top of the APL edge [3] as shown, this will help ensure the cable carrier does not get caught on the edge.

Brake loose the bolts [1] that secure the right side hard stop block [2].

Position the hard stop block [2] 0.75 inches (19mm) away from the edge of the rack gear assembly [3].

Torque the hard stop mounting bolts to 25 ft-lbs (33.9 Nm).

Make sure that the front edge of the APL and the front of the machine are parallel. [1]

Use the provided measurements between spindle motor cover [2] and the right APL pillar [3] to place the APL on the left side of the machine.

NOTE: Dimensions are in inches.

Install the AU, AV and AW axes amplifiers in the respect with the decal labels on the amplifier fan bracket .

NOTE: AU axis amplifier [1] shown on the picture.

NOTE: Skip this step if the machine has Live Tooling, Y axis or the Sub-Spindle option. Machines that were built with the  Live Tooling, Y axis and the Sub-Spindle  will have an additional ammplifier bank to the left of the Vector Drive and  will come with the dual lead DC BUS cable installed from the factory.

If the machine was built with the single lead DC buss cable (33-04901B) you will need to replace it with the dual lead DC BUS cable (33-0052C) provided with the kit.

Before working on this cable, power the machine OFF and allow the Vector Drive capacitors to discharge until the red light [1] on the Vector Drive is OFF.

Remove the old cable that supplies DC voltage from the Vector Drive terminals 2 and 3 to the amplifiers.

Install the new dual lead DC BUS cable (33-0052C) as follows:

• Connect the end with the ring terminals [2] to the terminal 2 and 3 on the Vector Drive:
  • The white lead that is labeled TB2 "+" to the terminal 2
  • The black lead that is labeled TB3 "-" to the terminal 3
• Route the longer cable through the fan bracket under the amplifiers and connect it to the "+" H.V. and the "-" H.V. terminals on the left most servo amplifier [3] as labeled.
• Connect the remaining cable to the "+" H.V. and the "-" H.V. terminals on the right most servo amplifier [4] as labeled.

Route the AU, AV and AW axes power cables through the opening on the bottom of the control cabinet.

Connect the power cable leads to the high voltage terminals:

• red to RED [1]
• white to WHT [2]
• black to BLK [3]

 NOTE: The AV axis power cable leads are labeled PH-A, PH-B and PH-C due to a different color scheme. Connect as follows:

• PH-A to RED
• PH-B to WHT
• PH-C to BLK

Connect the ground wire [4] to the bracket for the amplifier fan.

Find the high-voltage terminals [5] on the nearest amplifier.

Find the high-voltage terminals [7] on the amplifier.

Install the jumpers [6] from the installation kit between these terminals.

Connect the black wire to -H.V. Connect the red wire to +H.V.

Connect the current command cables to the connector near the top of the each amplifier [1].

Connect the other ends of the cables to the AMPLIFIER COMMAND outputs on the NGC PCB [2] as follows:

• AU axis to the output 13.
• AV axis to the output 15.
• AW axis to the output 16.

Route the U, V and W axes encoder cables through the opening on the bottom of the control cabinet and connect them to the ENCODER inputs on the NGC PCB [3] as follows:

• AU axis to the input 13.
• AV axis to the input 15.
• AW axis to the input 16.

Route the AW axis brake cable into the control cabinet and connect it to P3/4/5 on the SIO.

Connect the DOOR FULLY OPEN switch as labeled:

• COM to the top terminal [1].
• NO to the middle terminal [2].

Route the cable into the control cabinet as shown on the picture.

 NOTE: Make sure to install the provided magnetic clip [3] and cable clamps [4] to keep the cable clear of the moving autodoor motor [5].

Connect the other end of the cable to the SIO P27 RRI Door Open input. 

Install the autodoor cover.

Install the SMTC PCB [1] onto the SIO door using the standoffs [2] and the screws [3].

Interconnect the SMTC PCB cables as shown on the diagram.

If the machine has a Smart CAN auto door, plug cable 33-1518 into P15 on the SIO board. 

Attach the APL E-Stop as shown and route the cable along the bottom so that it groups up with the other cables that route to the control cabinet.

Connect the APL E-Stop button wire to TB1 on the I/O Board.

Remove jumper from JP1 on the I/O PCB.

Change factory setting: 1278 [1278]: Robot Ready E-Stop Enabled to True

Level the APL base with the bubble level on top of the APL table.

Use the leveling screws at the bottom of the APL base to level the APL front to back [1] and side to side [2].

When done with leveling make sure that all four leveling screws make contact with the floor.

Place the bubble level [1] on top of the horizontal beam.

Loosen the bolts that secure the beam to the pillars.

Lift or lower the right side [2] of the horizontal beam until it leveled.

Tighten the bolts that secure the horizontal beam to the pillars.

Remove the lifting brackets. 

 NOTE: For Machines with light curtain perform this section. 

Place the light curtain mount [1] flush with the right door opening edge [2].

Mark and drill seven Ø 3/16" (4.7mm) mounting holes [3].

Attach the light curtain mount to the machine using the self tapping screws. 

NOTE: You can route the light curtain cable at this point to avoid reinstalling the self tapping screws. 

Assemble the light curtain mounting brackets as shown on the picture [1].

 NOTE: The light curtain kit contains the transmitter and the receiver. You can identify these by the sticker on the side of the housing. It is labeled "RECEIVER" [2] and "TRANSMITTER" [3]. 

When installing the light curtains make sure that the end with the cable connection is on the bottom.

Install the light curtain receiver [4] on the lathe side.

Install the light curtain transmitter [5] on the APL side.

Make sure that the transmitter and the receiver are pointed at each other before tightening the mounting bolts.

Route the Transmitter cable [6] and the Receiver [7] cable into the control cabinet as shown.

Use the provided velcro patch to attach the 24VDC power supply to the right wall inside the control cabinet.

Interconnect the light curtain cables as shown on the diagram.

If plugs P5/6/7 are not available on the PSUP PCB. Remove a fan power cable from P5/6/7 and plug in 33-7180 CBL FAN ADAPTER TO DUAL FAN. Plug in the fan power cable and light curtain power cable into 33-7180.

 Caution: The AW-Axis brake cable is disconnected during shipping as a safety precaution.  If the APL is not enabled in the control, the AW axis can drop on the table if powered on.  Make sure the APL is enabled before plugging in the brake cable.

Connect the AW Axis brake cable.

Power Up the machine with the E-STOP depressed.

Before releasing the E-STOP, navigate to the CURRENT COMMANDS screen and make sure that the AUTOMATIC PART LOADER tab is visible. 

Navigate to the ALARMS AND MESSAGES and make sure that there is no active alarms associated with the AU, AV and AW axes.

 NOTE:  If the APL is left disabled, and the E-STOP is released, the AW axis will fall.

Release the E-STOP and zero return the machine.

Set the GRID offsets for the AU, AV and the AW axes. Refer to the Axis Grid Offset - NGC.

• Set Grid Offsets for AU, AV, and AW axes:
• Zero Return AU, AV, and AW
• Go to the Diagnostics Tab> Parameters > Factory Settings
  • Press AU + F4
  • Press AV + F4
  • Press AW + F4

• Set Tool Change Offset
• Put small puck template on table.
• Place 2” diameter puck in front left position on template
• Align Gripper 1 in AU and AV to the puck
• Set Tool Change Offset
• Diagnostics -> Parameter -> Factory
  • AU + F2
  • AV + F2

With an indicator base clamped to the gripper [1] Jog the AU axis and measure if the dowel pins [2] on the APL table is inline with the AU axis motion. NTE 0.060" (1.5mm).

If your machine does not have the new linear rail kit please complete the retrofit procedure per APL Linear Rail Retrofit Kit Installation

Clamp the piece of round stock [1] in the APL gripper 1.

Note: Using machined jaws will increase accuracy

Jog AU and AW axes to place the gripper with the round stock in front of the spindle chuck [2].

Move the APL base [3] front to back with a pallet jack until the piece of round stock [1] align with the spindle.

 NOTE: When moving the APL base, make sure that the APL beam support [4] pillar moves the same amount and the front of the APL stays parallel to the front of the machine.

Jog the AU axis and place the stock into the chuck.

Open and close the chuck and check for deflection of the AW arm

Move the table back forth, and the AW axis up and down until there is minimal movement when the chuck clamps on the stock.

Check Gripper number 2 in the same way.

Once the APL grippers aligned with the spindle, tighten the bolts that secure the APL beam support to the roof panel [4].

Fine front-to-back adjustment of the gripper.

Remove the bolts that keep the rotator extrusion cover [1] in place.

Remove the rotator extrusion cover.

Break loose two bolts [2] that secure the rotator [3] to the bracket. This will allow you to move the gripper assembly front to back.

Once the gripper assembly is in desired position, torque the two mounting bolts [2] to 60 ft-lbs (81 Nm) and install the rotator extrusion cover.

Torque the four SHCS [4] to 20 ft-lbs (27 Nm) 

Set rotator limits. 

The rotator clockwise (CW) and counterclockwise (CCW) limits are set with the stop screws on top of the rotator unit. There is a stop screw for the CW limit [1] and the CCW limit [2]. 

To adjust the CW limit:

• Break loose the jam nut [3].
• Rotate the gripper assembly clockwise until it stops against the stop screw.
• Turn the CW stop screw in or out to manipulate the CW limit position.
• Once the rotator is in desired CW limit position, hold the CW stop screw with the wrench and tighten the jam nut [3].

Use the CCW stop screw [2] to set the CCW limit.

Use a magnetic base and indicator on the table to indicate the side of the gripper plate while moving the AW axis up and down.  Adjust rotator limits until this is relatively parallel with the AW axis.

• The APL spring pusher is made with a shank to fit either a 25mm or 1” tool holder
• This tool must take up a toolholder on the turret
• If the machine is a ST-10/15 you will need two empty toolholders to allow enough space for the gripper
• Program the following steps to the beginning of any Lathe APL program to make sure the part is properly seated into the chuck:
  • Locate the spring pusher in front of the part
  • Move the Z axis to compress the spring about 0.50 inches or 12.7 mm
  • Open the chuck with a dwell of one second
  • Close the chuck with a dwell of one second
  • Retract the turret to the safest position possible

• Use a pen [1] to put a mark on the floor at the location of each foot.
•  Note: Turn the feet to the sides of the APL to avoid a tripping hazard.
• Drill [2]  Ø 0.50" (13 mm) hole in each mark.
• Drill the hole to a depth of 2.0" (51 mm).

• Put the foot [3] over the hole [4].
• Put an anchor [2] into the hole.
• Use a hammer [1] to tap the anchor.
• Tap the anchor until it is at the bottom of the hole.
• Put a washer [6] and a nut [5] on the bolt.
• Torque each nut to 55 ft-lb (75 Nm).

 Warning: If you turn Setting 372 to None, the AW - axis will drop if not supported or disconnected. Do one of the following:

• Jog to a safe location
• Unplug all APL cables BERFORE releasing E-STOP
• Unplug AW brake BEFORE releasing E-STOP

To disable the APL to run the machine in stand-alone mode. Press [SETTING]. Change the following Settings:

• 372 Parts Loader Type to 0: None
• 376 Light Curtain Enabled to Off

The following service video shows how to install the APL on the UMC-500/SS.

Note: This service video is for reference only and does not replace the written procedure.

This document explains how to assemble and install the Haas Automatic Parts Loader (APL) for a UMC machine

Machine Requirements:

• NGC/Software Version 100.23.000.1020 or higher
• RJH-T
• I/O PCB Hinge Door. 93-1000297 I/O DOOR ASSY HINGED
• Check the Layout Drawing document for Machine Specifications

Note: Before installing the APL make sure that the mill is leveled and the distance from the floor to the casting is 4 inches.

Follow the wiring diagram  for the electrical components all of the wiring will make its way through the box under the control cabinet and to the I/O board.

If the machine does not come with a I/O HINDGED DOOR you will need to install it, follow the I/O HINGED DOOR PROCEDURE for instructions on how to install it.

A food pedal cable will also be routed from the front skirt [1] of the machine along the side skirt into the box under the control cabinet and connected to the I/O board as shown.

Please refer to the link to install the correct Workholding option.

Please refer to the link to install the correct Vise option.

• Use a pallet jack to move the APL [1] into the proper position.
• adjust APL to the measurements shown:
  • Measure distance of 0.5" (13mm) for the AU Axis of APL 
  • Measure distance of 1.25" (32mm)  for the AV Axis of APL

• Use a pallet jack to move the APL [1] into the proper position.

• Install the APL enclosure panel [1] to the UMC Cntrol Cabinet as shown.

• Install the APL enclosure panel [1] to the electrical control cabinet.

• Install the APL enclosure panel [1] to the UMC's enclosure using the magnets provided as shown.

• Level the APL base with the bubble level on top of the APL table
• Use the leveling screws at the bottom of the APL base to level the APL front to back and side to side [1]
• When done with leveling make sure that all four leveling scerws make contact with the floor
• Place the level on top of the horizontal beam [3]
• Loosen the bolts that secure the beam to the pillars
• Lift or lower the right side of the horizontal beam until it is leveled
• Tighten the bolts that secure the horizontal beam to the pillars
• Verify APL Arm Level [2]

• Remove the APL arm shipping bracket [1]

• Remove the table shipping brackets [1], [2]

• Remove the AW axes sheet metal shroud [2]
• Remove the AU and AW axes shipping brackets [1]

• Route the conduit from the apl to the UMC electrical control cabinet as shown.

• Inside this conduit are several wires and a pneumatic line from the APL manifold used to aupply air to the gripper solenoids
• Feed all wires from conduit into the control cabinet except for the pneumatic line.

• One end of the pneumatic line is connected to the APL manifold [1]
• The other end is routed through the manifold shown in the previous step but, instead of being fed into the electrical cabinet, is routed to the CALM cabinet [2]

• Verify the push-connect fitting on the side of the APL manifold is connected securely. 

• Connect the other end of the hose to the CALM manifold at the location shown using the appropriate adaptor fitting to do so.

• Bolt the transmitter end of the light curtain to the side of the APL enclosure using the provided hardware in the configuration shown.
• When installing the light curtains make sure that the end with the cable connection is on the bottom
• Run cable from bottom of transmitter under the pallet pool and through the wire conduit

• Bolt the reciever end of the light curtain to the left side of the controller using the provided hardware in the configuration shown.
• When installing the light curtains make sure that the end with the cable connection is on the bottom

• Use the provided velcro patch to attach the 24VDC power supply to the right wall inside the control cabinet
• Interconnect the light curtain cables as shown on the diagram

 WARNING: Perform this step before connecting electrical APL components to the machine.

Note: The control needs to be in Service Mode to access the Factory Settings menu

• E-STOP the machine
• Change parameter 2191 LIGHT CURTAIN TYPE to LC_TYPE_1
• Set the setting 372 PARTS LOADER TYPE to TYPE 2 MILL APL
• Set the setting 375 APL GRIPPER TYPE to Dual Gripper
• Set the Setting 376 LIGHT CURTAIN ENABLE to ON
• Keep the E-STOP depressed and power the machine OFF

• Install the AU, AV and AW axes amplifiers in the respect with the decal labels on the amplifier fan bracket 

Note: AU axis amplifier [1] shown on the picture

• If the machine was built with the single lead DC buss cable (33-04901B) you will need to replace it with the dual lead DC BUS cable (33-0052C) provided with the kit
• Before working on this cable, power the machine OFF and allow the Vector Drive capacitors to discharge until the red light [1] on the Vector Drive is OFF
• Remove the old cable that supplies DC voltage from the Vector Drive terminals 2 and 3 to the alplifiers
• Install the new dual lead DC BUS cable (33-0052C) as follows:
  • Connect the end with the ring terminals [2] to the terminal 2 and 3 on the Vector Drive:
    • The white lead that is labeled TB2 "+" to the terminal 2
    • The black lead that is labeled TB3 "-" to the terminal 3
• Route the longer cable through the fan bracket under the amplifiers and connect it to the "+" H.V. and the "-" H.V. terminals on the left most servo amplifier [3] as labeled
• Connect the remaining cable to the "+" H.V. and the "-" H.V. terminals on the right most servo amplifier [4] as labeled

• Route the AU, AV and AW axes power cables through the opening on the bottom of the control cabinet
• Connect the power cable leads to the high voltage terminals Note: The AV axis power cable leads are labeled PH-A, PH-B and PH-C due to a different color scheme. Connect as follows::
  • red to RED [1]
  • white to WHT [2]
  • black to BLK [3]
  • PH-A to RED
  • PH-B to WHT
  • PH-C to BLK

• Connect the ground wire [4] to the bracket for the amplifier fan
• Find the high-voltage terminals [5] on the nearest amplifier
• Find the high-voltage terminals [7] on the amplifier
• Install the jumpers [6] from the installation kit between these terminals
• Connect the black wire to -H.V. Connect the red wire to +H.V.

• Connect the current command cables to the connector near the top of the each amplifier [1]
• Connect the other ends of the cables to the AMPLIFIER COMMAND outputs on the NGC PCB [2] as follows:
  • AU axis to the output 8
  • AV axis to the output 15
  • AW axis to the output 16
• Route the U, V and W axes encoder cables through the opening on the bottom of the control cabinet and connect them to the ENCODER inputs on the NGC PCB [3] as follows:
  • AU axis to the input 8
  • AV axis to the input 15
  • AW axis to the input 16
• Route the AW axis brake cable into the control cabinet and connect it to P3/4/5 on the SIO

Install the SMTC PCB [1] onto the SIO door using the standoffs [2] and the screws [3].

Interconnect the SMTC PCB cables as shown on the diagram.

If the machine has a Smart CAN auto door, plug cable 33-1518 into P15 on the SIO board. 

•  Note: APL's ship with the AW servo motor brake cable disconnected as a safety precaution.  This is to prevent the AW axis from dropping if the APL has not been enabled in the control.
  
• Connect the AW axis servo motor brake cable
• Power Up the machine with the E-STOP depressed
• Before releasing the E-STOP, navigate to the CURRENT COMMANDS screen and make sure that the AUTOMATIC PART LOADER tab is visible.
• Navigate to the ALARMS AND MESSAGES and make sure that there are no active alarms associated with the AU, AV and AW axes
•  Warning:  If the APL is left disabled and the E-STOP is released the AW axis will fall
• Release the E-STOP and zero return the machine

• Set Grid Offsets for AU, AV, and AW axes:
• Zero Return AU, AV, and AW
• Go to the Diagnostics Tab> Parameters > Factory Settings
  • Press AU + F4
  • Press AV + F4
  • Press AW + F4

• Jog the C axis until vise is set to the position as shown
• Run indicator along entire length of 6" jaw until runnout is within tolerance (NTE +/- 0.001)
• Save this position under Factory Parameter 7.310 as your new C-Axis Pallet Offset. The C-Axis will rotate to this position for every part change.

• Use a pen [1] to put a mark on the floor at the location of each foot.
•  Note: Turn the feet to the sides of the APL to avoid a tripping hazard.
• Drill [2]  Ø 0.50" (13 mm) hole in each mark.
• Drill the hole to a depth of 2.0" (51 mm).

• Put the foot [3] over the hole [4]
• Put an anchor [2] into the hole
• Use a hammer [1] to tap the anchor
• Tap the anchor until it is at the bottom of the hole
• Put a washer [6] and a nut [5] on the bolt
• Torque each nut to 55 ft-lb (75 Nm)

 Warning: If you turn Setting 372 to None, the AW - axis will drop if not supported or disconnected. Do one of the following:

• Jog to a safe location
• Unplug all APL cables BERFORE releasing E-STOP
• Unplug AW brake BEFORE releasing E-STOP

To disable the APL to run the machine in stand-alone mode. Press [SETTING]. Change the following Settings:

• 372 Parts Loader Type to 0: None
• 376 Light Curtain Enabled to Off

This procedure outlines how to install the Compact APL on the following machines:

• VF-2/2SS/2YT/2SSYT
• VM-2
• DM-1/2
• DT-1/2
• UMC-350HD
• SMM/MM Reboot

Machine Requirements:

• Software Version 100.22.000.2000 or higher
• Machine must be ordered with the Auto Window Option.
• REMOTE JOG HANDLE - XL 93-1000610 REMOTE JOG HANDLE TOUCH LCD (RJH-XL)
• I/O board updated to 34-349xB or later
• I/O PCB HINGE DOOR. 93-1000297 I/O DOOR ASSY HINGED

Note: Workholding is not included with the C-APL. It must be ordered as an additional option.

Note: Before installing the C-APL make sure that the mill is leveled and the distance from the floor to the casting is 3 inches.

The cylinder for the Auto Window will need to be raised from the shipping position.

Remove the cover [1] and its hardware [2] to expose the air cylinder [4] of the automatic window on the load station and raise the air cylinder [4] so that the brackets [3] and air cylinder are attached as shown.

 Note: Do this before placing the machine and compact APL together for easier access.

Use this step for C-APL machine with the style legs shown.

The front legs should be attached to the C-APL as shown in [1].

The back legs shown be attached to the C-APL as shown in [2].

Use this step for C-APL machine with the style legs shown.

For DT/DM & UMC-350HD Machines:

The legs of the Compact APL should look like the top image [1]. Make sure the bolts [2] on the all legs are in the bottom four (4) holes.

For VF/VM/SMM/MM Machines:

The legs of the Compact APL should look like the top image [2]. Make sure the bolts [5] on the all legs are in the bottom four (4) holes.

Use this step for C-APL machine with the style legs shown.

Attach the anchoring brackets to the Compact APL as shown.

 Note: The images show how the anchoring brackets will be attached on DM/DT & UMC-350HD machines, the bolts on the brackets will need to be shifted up for Compact APL's on VF & VM machines.

Use this step for C-APL machine with the style legs shown.

For UMC-350HD Machines:
For a standard 100mm Haas pneumatic vise, the bolts that control the height of the legs of the Compact APL should match the layout seen in the left image [1]. The front legs should have five (5) open holes above the bolts like the top of image [1] and the back legs should have six (6) open holes above the bolts like the bottom of image [1]. Refer to the table in the Level the C-APL section below for recommended heights of the C-APL.

For DM/DT Machines:
For a standard 100mm Haas pneumatic vise, the bolts that control the height of the legs of the Compact APL should match the layout seen in the middle image [2]. The front legs should have three (3) open holes above the bolts like the top of image [2] and the back legs should have four (4) open holes above the bolts like the bottom of image [2]. Refer to the table in the Level the C-APL section below for recommended heights of the C-APL.

For VF/VM/SMM/MM Machines:
For a standard 100mm Haas pneumatic vise, the bolts that control the height of the legs of the Compact APL should match the layout seen in the right image [3]. The front legs should have one (1) open hole above the bolts like the top of image [3] and the back legs should have two (2) open holes above the bolts like the bottom of image [3]. Refer to the table in the Level the C-APL section below for recommended heights of the C-APL

Use this step for C-APL machine with the style legs shown.

Attach the anchoring brackets to the Compact APL as shown.

Use this step if the C-APL is being installed on a UMC-350/350HD

Line up the Compact APL to the machine using the locating plate as shown.  The locating plate should be placed 3 inches [1] to the left of the window as shown.

Use this step if the C-APL is being installed on a DT/DM-1/2

Line up the Compact APL to the machine using the locating plate as shown.  The locating plate should be placed 1/4 inch [1] to the left of the window.

Use this step if the C-APL is being installed on a VF/VM-2

Line up the Compact APL to the machine using the locating plate as shown.  The locating plate should be placed 5 inches [1] to the right of the window edge.

Use this step if the C-APL is being installed on a SMM/MM

Line up the Compact APL to the machine using the locating plate [1] as shown.  The locating plate [1] should be lined up to the left of the window [2] as shown.

Turn the air supply OFF

Inside the CALM cabinet, remove the NPT plug [1] from one of the CALM manifold ports and install the push to connect fitting [2].

Route the air line from the C-APL solenoid rack to the CALM cabinet and connect it to the fitting

Adjust the leveling feet so that the c-apl table is the same height as top of the vise jaws [1]. Use the table below for height recommendations.

Note: Make sure the C-APL is not raised too high or it may crash into the top of the auto window.

Then use a bubble level to level the Compact APL from side-to-side [2] and front-to-back [3].

Once aligned and leveled, anchor the Compact APL. See the Anchoring Instructions (Drop-In Expansion) for anchoring information.

Remove the shipping brackets that are shown in red in the image.

Install the AU and AV axes amplifiers in the respect with the decal labels on the amplifier fan bracket

Note: AU axis amplifier [1] shown on the picture

If the machine was built with the single lead DC buss cable (33-04901B) you will need to replace it with the dual lead DC BUS cable (33-0052C) provided with the kit

Before working on this cable, power the machine OFF and allow the Vector Drive capacitors to discharge until the red light [1] on the Vector Drive is OFF

Remove the old cable that supplies DC voltage from the Vector Drive terminals 2 and 3 to the amplifiers

Install the new dual lead DC BUS cable (33-0052C) as follows:

• Connect the end with the ring terminals [2] to the terminal 2 and 3 on the Vector Drive:
  • The white lead that is labeled TB2 "+" to the terminal 2
  • The black lead that is labeled TB3 "-" to the terminal 3

Route the longer cable through the fan bracket under the amplifiers and connect it to the "+" H.V. and the "-" H.V. terminals on the left most servo amplifier [3] as labeled

Connect the remaining cable to the "+" H.V. and the "-" H.V. terminals on the right most servo amplifier [4] as labeled

Route the AU and AV axes power cables through the opening on the bottom of the control cabinet

Connect the power cable leads to the high voltage terminals 
 Note: The AV axis power cable leads are labeled PH-A, PH-B and PH-C due to a different color scheme. Connect as follows::

• red to RED [1]
• white to WHT [2]
• black to BLK [3]
• PH-A to RED
• PH-B to WHT
• PH-C to BLK

Connect the ground wire [4] to the bracket for the amplifier fan

Find the high-voltage terminals [5] on the nearest amplifier

Find the high-voltage terminals [7] on the amplifier

Install the jumpers [6] from the installation kit between these terminals

Connect the black wire to -H.V. Connect the red wire to +H.V.

Connect the current command cables to the connector near the top of the each amplifier [1]

Connect the other ends of the cables to the AMPLIFIER COMMAND outputs on the NGC PCB [2] as follows:

• AU axis to the output 13
• AV axis to the output 15

Route the U and V axes encoder cables through the opening on the bottom of the control cabinet and connect them to the ENCODER inputs on the NGC PCB [3] as follows:

• AU axis to the input 13
• AV axis to the input 15

Install New Bracket in Electrical Cabinet

Machines with a Wye/Delta [1] in the electrical cabinet will need to remove it before installing the new bracket [2] using the 10-32 screws [3] in the kit.

At this point if applicable, re-install the Wye/Delta [1] and then install the C-APL power supply and CAN board assembly [2] as shown next to the vector drive.

If the machine does not have an I/O hinge door already installed, install it at this time.

Install the SMTC PCB [1] onto the SIO door using the standoffs [2] and the screws [3].

Remove the Jumper at P12 on the I/O board.

Connect the rotators cable 33-1176 [1] to P12 on the I/O board.

Connect the solenoids cable 33-1172 [2] to P3 on the SMTC board.

Connect cable 33-3333 [3] from P4 on the SMTC boards to P7 on the PSUP Board.

Connect cable 33-1518 [4] from P1 on the SMTC board to P15 on the I/O board.

Connect cable 33-1760A [5] from P2 on the SMTC board to P18 on the PSUP board.

Connect cable 33-1171 [6] from P5 on the PSUP to the C-APL power supply.

Connect the C-APL motor cable 33-1177 [7] to J6 of the C-APL CAN board.

Connect cable 33-5308 [8] from J1 on the C-APL CAN board to J2 on the I/O board.

Note: If the machine is powered by a single phase input, cable 33-7180 is needed to connect power to P5/P6/P7 on the PSUP board from P3 on the PSUP board.

Note: If this machine is equipped with other CAN systems, visit the CAN Systems Troubleshooting Guide for where the Compact APL falls in the CAN sequence.

Refer to this step if your machine has a light curtain or area scanner.

Install the relay bracket [1] to the LVPS bracket.

Install the safety relay [2] onto its bracket [1] as shown.

Important: If the machine is equiped with an Autodoor, the power supply and CAN board assembly will need to be removed to install the safety relay bracket.

Refer to this step if your machine has a light curtain or area scanner.

Connect the Area Scanner or Light Curtain Receiver Input cable to the safety relay connector [9].

If using the Light Curtain, connect the Light Curtain Emitter Input to the safety relay connector [10].

Refer to this step if your machine has a fence and uses an interlock.

The fence interlock cable 33-0734 [9] should be connected to P1 and P9 on the I/O board.

Light Curtain:

If the machine came equipped with the light curtain option, the light curtain needs to be installed. Follow the procedure below for installation: 

Robot Fence:

If the machine came equipped with the fence option, the robot fence and door interlock assembly need to be installed to machine. Follow the procedure below for installation:

Area Scanner:

If the machine came equipped with the area scanner option, the area scanner needs to be installed and configured to the space. Follow the procedure below for installation: 

Power Up the machine with the E-STOP depressed

Before releasing the E-STOP, navigate to the CURRENT COMMANDS screen and make sure that the AUTOMATIC PART LOADER tab is visible.

Navigate to the ALARMS AND MESSAGES and make sure that there are no active alarms associated with the AU and AV axes

Release the E-STOP and zero return the machine

Set Grid Offsets for AU and AV axes:

Zero Return AU and AV

Go to the Diagnostics Tab> Parameters > Factory Settings

• Press AU + F4
• Press AV + F4

Jog to a safe location

To disable the APL to run the machine in stand-alone mode. Press [SETTING]. Change the following Settings:

• 372 Parts Loader Type to 0: None
• 376 Light Curtain Enabled to Off

Change parameter 9015.001 CAN NODE 15 ENABLE to FALSE.

This document explains how to assemble and install the Haas Automatic Parts Loader (APL) for a VMC machine

Machine Requirements:

• VF-1/2 & VM-2 Built 4-1-2019 and later
• Remote Jog Handle - Touch
• I/O board updated to 34-349xB or later
• NGC/Software Version 100.24.000.1110 or higher
• SMTC 30 or 50 Pocket
• Check the Layout Drawing document for Machine Specifications
• Note: The automatic vise is not included with the mill APL. It must be ordered as an additional option.

Use a pallet jack to move the APL into the proper position. Adjust the APL to the measurements as shown:

Measure distances from the end of the AU axis arm to the machine:

• Measure 0.75" (19 mm) from the end of the arm to the sheet metal above the auto window  [1]
• Measure 11" (280 mm) from the side of the arm to the side of the side of the auto-window sheet metal [2]

Secure the sheet metal panels between the back of the APL and the back of the machine. Bolt one panel to the APL [1] and use magnets to attach the other panel to the machine [3]. Use bolts to secure the panels together [2]. 

Level the APL base with the bubble level on top of the APL table. Use the leveling screws at the bottom of the APL base to level the APL front to back and side to side [1]. After leveling base, check that all four leveling screws contact the floor.

Place the level on top of the horizontal beam [3]. Loosen the bolts that secure the beam to the pillars Lift or lower the right side of the horizontal beam until it is leveled. Tighten the bolts that secure the horizontal beam to the pillars

Verify APL Arm Level [2]

• Remove the APL arm shipping bracket [1]

• Remove the table shipping brackets [1], [2]

• Remove the AW axes sheet metal shroud [2]
• Remove the AU and AW axes shipping brackets [1]

Route the conduit from the APL to the bottom of the VMC electrical control cabinet [1]. 

Feed all wires from conduit into the control cabinet except for the pneumatic line.

Verify that the push-connect fitting on the side of the APL manifold is connected securely to the pneumatic line [1]. 

Route the other end of pneumatic line through the bottom of the CALM cabinet [2]. 

Note: To prevent kinking, ensure that there are no hard bends in the hose.

Connect the other end of the hose to the CALM manifold to the air supply port labeled 'APL/Robot air supply port' [1] using the appropriate adaptor fitting. Reference the Air-Lubrication System decal on the door of the CALM cabinet. 

• Bolt the transmitter end of the light curtain to the side of the APL enclosure using the provided hardware in the configuration shown.
• When installing the light curtains make sure that the end with the cable connection is on the bottom
• Run cable from bottom of transmitter under the pallet pool and through the wire conduit

• Bolt the receiver end of the light curtain to the left side of the controller using the provided self-tapping hardware in the configuration shown.
• When installing the light curtains make sure that the end with the cable connection is on the bottom

• Use the provided velcro patch to attach the 24VDC power supply to the right wall inside the control cabinet
• Interconnect the light curtain cables as shown on the diagram

 WARNING: Perform this step before connecting electrical APL components to the machine.

Note: The control needs to be in Service Mode to access the Factory Settings menu

• E-STOP the machine
• Change parameter 2191 LIGHT CURTAIN TYPE to LC_TYPE_1
• Set the setting 372 PARTS LOADER TYPE to TYPE 2 MILL APL
• Set the setting 375 APL GRIPPER TYPE to Dual Gripper
• Set the Setting 376 LIGHT CURTAIN ENABLE to ON
• Keep the E-STOP depressed and power the machine OFF

• Install the AU, AV and AW axes amplifiers in the respect with the decal labels on the amplifier fan bracket 

Note: AU axis amplifier [1] shown on the picture

• If the machine was built with the single lead DC buss cable (33-04901B) you will need to replace it with the dual lead DC BUS cable (33-0052C) provided with the kit
• Before working on this cable, power the machine OFF and allow the Vector Drive capacitors to discharge until the red light [1] on the Vector Drive is OFF
• Remove the old cable that supplies DC voltage from the Vector Drive terminals 2 and 3 to the amplifiers
• Install the new dual lead DC BUS cable (33-0052C) as follows:
  • Connect the end with the ring terminals [2] to the terminal 2 and 3 on the Vector Drive:
    • The white lead that is labeled TB2 "+" to the terminal 2
    • The black lead that is labeled TB3 "-" to the terminal 3
• Route the longer cable through the fan bracket under the amplifiers and connect it to the "+" H.V. and the "-" H.V. terminals on the left most servo amplifier [3] as labeled
• Connect the remaining cable to the "+" H.V. and the "-" H.V. terminals on the right most servo amplifier [4] as labeled

• Route the AU, AV and AW axes power cables through the opening on the bottom of the control cabinet
• Connect the power cable leads to the high voltage terminals Note: The AV axis power cable leads are labeled PH-A, PH-B and PH-C due to a different color scheme. Connect as follows::
  • red to RED [1]
  • white to WHT [2]
  • black to BLK [3]
  • PH-A to RED
  • PH-B to WHT
  • PH-C to BLK

• Connect the ground wire [4] to the bracket for the amplifier fan
• Find the high-voltage terminals [5] on the nearest amplifier
• Find the high-voltage terminals [7] on the amplifier
• Install the jumpers [6] from the installation kit between these terminals
• Connect the black wire to -H.V. Connect the red wire to +H.V.

• Connect the current command cables to the connector near the top of the each amplifier [1]
• Connect the other ends of the cables to the AMPLIFIER COMMAND outputs on the NGC PCB [2] as follows:
  • AU axis to the output 8
  • AV axis to the output 15
  • AW axis to the output 16
• Route the U, V and W axes encoder cables through the opening on the bottom of the control cabinet and connect them to the ENCODER inputs on the NGC PCB [3] as follows:
  • AU axis to the input 8
  • AV axis to the input 15
  • AW axis to the input 16
• Route the AW axis brake cable into the control cabinet and connect it to P3/4/5 on the SIO

Install the SMTC PCB [1] onto the SIO door using the standoffs [2] and the screws [3].

Interconnect the SMTC PCB cables as shown on the diagram.

If the machine has a Smart CAN auto door, plug cable 33-1518 into P15 on the SIO board. 

•  Note: APL's ship with the AW servo motor brake cable disconnected as a safety precaution.  This is to prevent the AW axis from dropping if the APL has not been enabled in the control.
  
• Connect the AW axis servo motor brake cable
• Power Up the machine with the E-STOP depressed
• Before releasing the E-STOP, navigate to the CURRENT COMMANDS screen and make sure that the AUTOMATIC PART LOADER tab is visible.
• Navigate to the ALARMS AND MESSAGES and make sure that there are no active alarms associated with the AU, AV and AW axes
•  Warning:  If the APL is left disabled and the E-STOP is released the AW axis will fall
• Release the E-STOP and zero return the machine

• Set Grid Offsets for AU, AV, and AW axes:
• Zero Return AU, AV, and AW
• Go to the Diagnostics Tab> Parameters > Factory Settings
  • Press AU + F4
  • Press AV + F4
  • Press AW + F4

• Jog the C axis until vise is set to the position as shown
• Run indicator along entire length of 6" jaw until runout is within tolerance (NTE +/- 0.001)
• Save this position under Factory Parameter 7.310 as your new C-Axis Pallet Offset. The C-Axis will rotate to this position for every part change.

• Use a pen [1] to put a mark on the floor at the location of each foot.
•  Note: Turn the feet to the sides of the APL to avoid a tripping hazard.
• Drill [2]  Ø 0.50" (13 mm) hole in each mark.
• Drill the hole to a depth of 2.0" (51 mm).

• Put the foot [3] over the hole [4]
• Put an anchor [2] into the hole
• Use a hammer [1] to tap the anchor
• Tap the anchor until it is at the bottom of the hole
• Put a washer [6] and a nut [5] on the bolt
• Torque each nut to 55 ft-lb (75 Nm)

 Warning: If you turn Setting 372 to None, the AW - axis will drop if not supported or disconnected. Do one of the following:

• Jog to a safe location
• Unplug all APL cables BERFORE releasing E-STOP
• Unplug AW brake BEFORE releasing E-STOP

To disable the APL to run the machine in stand-alone mode. Press [SETTING]. Change the following Settings:

• 372 Parts Loader Type to 0: None
• 376 Light Curtain Enabled to Off