Haas Robot Package-7kg - VMC - Installation

AD0504

Revision A - 04/2025

Introduction

This procedure will show you how to install the Haas Robot Arm Package-7kg.

Note: The Haas designed work cell made up of a CNC machine and a robot have been evaluated for compliance to CE requirements. Changes or variations to the Haas cell design should be evaluated for compliance to the applicable standards and are the responsibility of the user/integrator.

Machine Requirements:

  • 100.21.000.1120 version or higher
  • VF-1/2 & VM-2 Reboot Sheet Metal and DC-2
  • Haas Autodoor 
  • 93-1000610 REMOTE JOG HANDLE - XL REMOTE JOG HANDLE TOUCH LCD (RJH-XL)
  • RJH-XL Robot - Upgrade Kit - This procedure will show you how to upgrade your Robot with the RJH-T assembly to work with RJH-XL assembly.
  • 34-349xB I/O board or later
  • 93-1000297 I/O PCB HINGE DOOR. I/O DOOR ASSY HINGED

Fixing / Anchoring Requirements

  • The Haas Robot Package-7kg is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

The Haas Robot Package Includes the following Components:

  • 32-1276 Remote E-Stop Assembly (includes holster and 25' foot cable for remote handle jog)
  • 93-1001001 HRP-7kg Electrical Interface Box Assembly (Includes robot signals and power cables)
  • 93-1000764 HRP-7kg Extended Table
  • Robot safety device

Note:  The parts above are subject to change and there will be some variation depending on build date. 

The Haas Robot Package needs the following components to be field installed on a Haas Machine:

PART NUMBER DESCRIPTION
93-1001031 - HRP Ordered Param Robot Magic Code
93-1000997 - Front Automation Safety Par Only Front Door Robot Safety Parameter

93-1001206 - INSTALL KIT HRP-1 VMC SMALL, DC-2 NOT CE

or

93-1000909 - INSTALL KIT HRP-1 VMC SMALL CE

Small VMC HRP-1 Install Kit

or

CE Small VMC HRP-1 Install Kit

One of these Robot Safety Devices:

93-1000894   HRP-1 SAFETY FENCE VMC/ST

08-1897   Laser Area Scanner Kit 

08-1899   Multi-sided Light Curtain HRP Kit

 Robot Safety Device

This Procedure Also Applies to the following Service Kits: 

  • 93-3889 INSTALL KIT HRP-1 LATHE ADD-ON SVC KIT

Note: This service kit includes only non-transferable parts needed to transform a HRP-1 Mill set-up to a Lathe set-up. Fence is not included. 

 Important: HE machines with an autodoor that are ordered with a robot or APL will not come with an edge sensor because these automation options come with a fence. If the machine is going to be ran without the automation option that has the fence, you will need to order and install an edge sensor for the machine. Reference the applicable edge sensor procedures for the correct part number to order:

Mill Setup

1

Complete the following on both sides of the door:

Remove the autodoor motor cover [1] and 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].

 Important: There are 2 drill templates inlcuded in the VMC kit. There is a VF-small template [8] and a unique template [9] specific for DC-2 machines. The DC-2 template should be used instead of the standard VF template on DC-2 machines.

Install the drill guide [7] for the door open flag [6] and 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.

2

Remove the tool tray and tool table from the machine.

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.

Move the Remote Jog Handle (RJH) to the opposite side of the control pendant and route the cable.

3

Route the door fully open cables into the control cabinet as shown on the picture.

Connect to 32-0807 PROX NO LEFT DOOR FULLY OPEN to SIO P27.

Connect to 32-0856 PROX NO RIGHT DOOR FULLY OPEN to SIO P72.

 

4

  • 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 in the tool carousel.
  • Program the following steps to the beginning of any  program to make sure the part is properly seated into the chuck:
    • Locate the spring pusher above the part
    • Move the Z axis to compress the spring about 0.50 inches or 12.7 mm
    • Open the vise with a dwell of one second
    • Close the vise with a dwell of one second

Note: The Part Number for the spring pusher is: 

  • 30-12642 SPRING PUSHER APL.  The 25mm or 1.0” holder is sold separately.

Robot Lifting

Use this information for lifting/moving Robot Package-7kg.

Robot Installation

1

Measure these dimensions from the machine skirt to the side panels of the table.

 Note: The following dimensions are recommended distances. The position may vary depending on the users application.

The Haas Robot Package-7kg is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

Place the robot table againt the left front side of the machine. Use below dimensions to locate the robot.

Once in place, install the leveling pads and raise the leveling screws until the wheels are off the floor.

Level the table using a bubble level.

Dimension Number Mills
1 (Table to the front of the machine) 1.5 in. (38.1mm)
2 (Table to the left side of the machine) 13.5 in. (342.9 mm)

2

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Remove the regulator from the robot stand.

Remove the parts template.

Remove the parts template table.

Remove the parts table gussets.

3

Remove the robot shipping bracket hardware and slide it away from the arm.

Install the robot mount.

Remove the robot from its shipping location and install the robot to the robot mount with the cable connector to the rear of the stand.

 Note: Do not reuse the shipping hardware. 

Remove the robot lifting brackets and hardware after installing the robot.

4

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Install the regulator to the robot stand.

Install the parts table gussets.

Install the parts template table.

Install the parts template.

5

Turn the machine air supply OFF.

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

Route the air line from the left side of the regulator along the machine skirt, behind the machine into the CALM cabinet.

Route the air line from the right side of the regulator to the Air 2 Port on the robot and install the push to connect fitting.

Turn the machine air supply ON.

Set the regulator to air pressure required for your application. The higher the pressure, the greater the clamp force. Below are the air pressure ranges of the Single and Dual Grippers for the HRP-1.

  • Single Gripper Air Pressure Range - (44.0 - 100.0 psi)
  • Dual Gripper Air Pressure Range - (14.5 - 87.0 psi)

Drawer Cart Installation

To install the HRP-7kg Drawer Cart. Follow the procedure below for installation.

HRP-7kg - Drawer Cart - Installation

Robot Electrical - Installation

 Caution: When you do maintenance or repair on CNC machines and their components, you must always follow basic safety precautions. This decreases the risk of injury and mechanical damage.

  • Set the main circuit breaker to the [OFF] position.

 Danger: Before beginning any work inside the control cabinet the High Voltage indicator light on the 320V Power Supply / Vector Drive must have been off for at least 5 minutes.

Some service procedures can be dangerous or life-threatening. DO NOT attempt a procedure that you do not fully understand. If you have any doubts about doing a procedure contact your Haas Factory Outlet (HFO) and schedule a service visit.

1

VMC Robot Interface Mounting Location

The Robot electrical interface box has magnetic mounts to attach to the machine sheet metal.

Mount the Robot electrical interface box [1] as shown in the picture.

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

Perform the following steps to reconnect the robot to the Haas machine.
 

Main Transformer

  • Connect cable [1] P/N 33-8570 to Main Transformer follow the labels to terminals 77 and 78,  connect the ground loop terminal to chassis.

I/O PCB and Maincon PCB

Cable P/N 33-8561C has multiple connections:

  • Connect the E-STOP terminal block connections  to SIO PCB TB-1B (see diagram)[2].
  • Verify the jumper is installed on the SIO PCB at JP1
  • Connect the Setup mode terminal block connections to SIO PCB TB-3B (see diagram)[2].
  • Connect the cable labeled P1 SIO to the SIO PCB at P1[3].
  • Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (P/N 33-0636).  Connect the USB connector end to the Maincon PCB J8 top port (see diagram). Add a ferrite filter 64-1252 to the USB adapter.
  • Mount the 24VDC Power Supply[11] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8561C. Connect cable 33-1910A[10] to the 24VDC Power Supply[11] and plug into P3 on the PSUP PCB.
  • Plug the User Relays into K9 and K10. (see diagram)[12].

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. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

SKBIF to Remote Jog Handle

  • Connect the RJ12 cable 33-8550C[6] from the Remote E-stop box to cable 33-0713 and plug into the SKIBF PCB P9.
  • Remove the jumpers JP2 and JP3 on the SKBIF from the horizontal position and replace them in the vertical position.
  • Plug the RJH-XL cable into the cradle.

 Warning: By not putting the jumpers in the vertical position, E-STOP functionality on the RJH-XL is disabled and the machine is considered unsafe. Jumpers MUST be inserted vertically.

Robot Electrical Box to Robot Control

  • Connect the Robot Control Signal Cables [7] P/N 33-8590A to the Robot Electrical Interface Box. Add a ferrite filter 64-1252 to the RJ-45 cable.

IMPORTANT: When connecting the Robot Control Signal Cable [7], make sure to line up the M12 connector female notch with the M12 connector male key to prevent any misalignment that could result in damaged pins. 

Robot Power

  • Connect the 230VAC Power Cable [8] P/N 33-8530 to the Robot Electrical Interface Box.

Robot Safety Device 

  • Connect the robot safety device cable [9] from the electrical interface box to the robot safety device—either light curtain, interlock fence or area scanner.  For more information regarding safety devices, refer to the Robot Safety Device section below. 

Robot Safety Device

IMPORTANT: DO NOT OPERATE THE ROBOT UNTIL YOU HAVE PROPERLY CONFIGURED AND TESTED THE OPERATION OF THE SAFETY DEVICE.

Light Curtain:

Cobot packages come with the light curtain emitter and receiver as the default safety device. Follow the procedure below for light curtain installation: 

Light Curtain Installation

NOTE: If the area scanner or HC10 Machine Ready kit was ordered, there will also be a 1M light curtain receiver and emitter. These come with all Cobots. 

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:

Robot Fence Installation

Once the fence is installed, next install the fence panel in between the machine and robot fence.

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: 

Area Scanner Installation

First Power-UP

1

Locate the Mode Switch on the Controller Operator Panel. Use the key retrieved in previous step and switch to Auto Mode[1].

Make sure the [E-STOP] button[2] is not pressed.

Turn on the Robot Control box by rotating the Breaker clockwise to On[3].

2

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
  • 2195 [:] Enable Right Door Fully Open Switch to TRUE
  • 2196 [:] Enable Left 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

 

3

Press [CURRENT COMMANDS].

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

  • Maximum Jogging Speed to 7.9 inch/sec

Go to the Setup tab. Change the following:

  • Max Robot Speed to 157 in/sec (3988 mm/sec). 
  • Gripper Net Mass - 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.

    Warning: Setting this value incorrectly can cause the Robot Arm to not move correctly.

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

4

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, a Robot Activation window will pop-up. This pop-up shows the Software Version of the machine[3], the MAC address of the robot[4], and the Machine Generated Code[5] used for Machine Time Extension on the portal.

To activate the robot, enter the F Number[6] and Unlock Code[7].

The F Number is found on the robot ID tag that is on the control panel door or on the robot arm.

The Unlock Code is generated after completing the Robot Installation on the Haas Business Center.

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

For Service Activation. In Service Mode, Press [INSERT] to connect the robot. This will be disabled after a Cycle Power.

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

Note: The green button on the control box will light up.

5

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 [Emergency Stop] before working on the robot.

Note: Turn off the machine air by turning the valve in the Air/Lube cabinet and pull the pressure relief valve to release the air in the system.

Gripper Installation

1

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

The location hole should be centered on top.

If you have the dual action gripper, install it to the end of the robot arm by removing the gripper adapter[1] from the gripper assembly.

Mount the adapter to the end of the robot arm.

Mount the gripper assembly to the gripper adapter with gripper 1 on the left. Gripper 1 should be have orange and purple zip ties[2] on the fittings.

2

The location hole should be centered on top.

If you have the single action gripper, install it to the end of the robot arm by removing the gripper adapter plate[1] from the gripper assembly.

Mount the adapter plate[1] to the end of the robot arm with the large pockets on the top and bottom. 

Mount the gripper assembly to the gripper adapter plate.

3

Mount the angle adapter bracket to the end of the robot arm.

Mount the gripper assembly to the gripper angle adapter plate.

4

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

Install the Bar Gripper Bolt Plates[3] using the following hardware: 8 x SHCS M6[4]

  • Torque to 10 ft-lbs.

Install the Bar Gripper Fingers[2] using the following hardware: 8 x SHCS 1/4-20[1]

  • Torque to 13 ft-lbs.

5

Install the gripper fittings to the robot arm.

Purple → 2A    (Open gripper 1)

Orange → 2B    (Close gripper 1)

Grey → 1A    (Open gripper 2)

Blue → 1B    (Close gripper 2)

6

Route the air lines between the robot arm and gripper connecting to the same color coded fittings.

Install conduit to each pair of air lines.

 Note: Turn on the machine air by turning the valve in the CALM cabinet.

Verification

Test the E-stop:

  • Press the Pendant and External E-STOP buttons and make sure the machine generates 107 EMERGENCY STOP alarm.  If the E-STOP button does not generate a 107 EMERGENCY STOP alarm verify the wiring. Load the latest configuration files to enable the RJH-XL.

Test the Robot Safety Device:

Make sure that there is an E-STOP or light curtain triggered icon on the Haas pendant when the robot safety device is triggered. 

  • Fence - Insert the key into the interlock, verify that the two red LED lights in the front of the interlock are OFF. Remove the key from the interlock, verify that the two red LED lights are ON. 
  • Area Scanner - Step inside the protective field, verify that the red LED lights up on the area scanner. Step outside the protective field, verify that the green LED lights up.
  • Light Curtain - Interfere the light curtain beams, verify that the light curtain triggered icon appears on the Haas pendant. Press [RESET]. Step outside of the light curtain beams, verify no icon appears on the Haas pendant. 

 NOTE: If the light curtain triggered icon does not show, verify wiring, alignment and factory setting: 2191 [694:] LIGHT CURTAIN TYPE is set to LC_TYPE_1.

Test the operation of the grippers:

  • Verify that both grippers clamp and unclamp correctly.
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • Press [F2] to clamp/unclamp the Finish Gripper.
  • Press [F3] to clamp/unclamp the Raw Gripper.

Test the Remote Jog Handle:

  • Undock the Remote Jog Handle
  • Press the [HANDLE JOG] button. 
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • On the Remote Handle Jog press the Joint button to go into the Joints Coordinates.
  • Move the robot to a safe location.

 IMPORTANT: If a yellow warning message appears saying "Please activate Light Curtain or Cell Safe" while trying to job the robot, verify the safety parameter was applied by re-uploading the configuration files from HBC. 

Verify Safe / Run Mode Operation

All Haas CNC machines are equipped with a key switch on the side of the control pendant to lock and unlock setup mode. The robot will have the following behaviors depending on what mode is selected. 

  • When the Haas control is in Run mode, mode 1, unlocking the interlock and opening up the gate stops all motion, and no motion can be started until it is closed and locked.
  • When the Haas control is in Set up mode, mode 2, speed limited motion such as jogging an axis of the robot can be performed in order to program a robot's path of motion, pick up position, set a robot's tool center point, (an offset), load and pick up parts from the spindle or part holder in the machine, etc. The programmed path will also be able to be run slowly to prove out the programmed path of the robot. The robot in setup mode can only be handle jogged while the F2 button the RJH is pressed.

HRP-7kg - MOUNT ANGLE SETTING - SETUP

This procedure shows you how to set the Mount Angle Setting for your robot configuration.

  • VF and ST machines, the robot is installed on the angle mount.
  • UMC and DT/DM machines the robot is installed directly to the stand.
HRP-7kg Mount Angle Setting - Setup

FANUC Dual Check Safety (DCS) – Setup

Each Haas Robot is provided with FANUC's DCS System. This allows the user to define speed and positional limits to the robot. If the robot goes outside of these limits, DCS will stop the robot and remove power to the motors.

This procedure will show you how to set up a Fanuc Dual Check Safety (DCS) zone.

FANUC Dual Check Safety (DCS) – Setup

Haas Robot - Quick Start Guide

After installing the robot, set up a job following the procedure below.

Haas Robot - Quick Start Guide

Disable the Robot

To disable the robot 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

Haas Robot Package-7kg - Lathe - Installation

AD0494

Revision A - 04/2025

Introduction

This procedure will show you how to install the Haas Robot Arm Package-7kg.

Note: The Haas designed work cell made up of a CNC machine and a robot have been evaluated for compliance to CE requirements. Changes or variations to the Haas cell design should be evaluated for compliance to the applicable standards and are the responsibility of the user/integrator.

Machine Requirements:

  • 100.21.000.1120 version or higher
  • ST-10/15/20/25 Reboot Sheet Metal (Flat Face)
  • Haas Autodoor (See machine requirements for CAN Auto Door)
  • REMOTE JOG HANDLE - XL 93-1000610 REMOTE JOG HANDLE TOUCH LCD (RJH-XL)
  • RJH-XL Robot - Upgrade Kit - This procedure will show you how to upgrade your Robot with the RJH-T assembly to work with RJH-XL assembly.
  • I/O board updated to 34-349xB or later
  • I/O PCB HINGE DOOR. 93-1000297 I/O DOOR ASSY HINGED

Note: If the machine has the Parts Catcher option installed. The catch tray will interfere with the robot and will need to be removed. A custom sheet metal panel will need to be made to cover and seal the opening.

Fixing / Anchoring Requirements

  • The Haas Robot Package-7kg is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

The Haas Robot Package Includes the following Components:

  • 30-13007    Robot PKG-7kg Fence Kit (fencing with gate to enclose the operators station)
  • 32-0911      Gate Interlock
  • 32-8581B   Remote E-Stop Assembly (includes holster and 25' foot cable for remote handle jog)
  • 32-8580A   HRP-7kg Electrical Interface Box Assembly (Includes robot signals and power cables)

Note:  The parts above are subject to change and there will be some variation depending on build date. 

The Haas Robot Package needs the following components to be field installed on a Haas Machine:

PART NUMBER DESCRIPTION
93-1001031 - HRP Ordered Param Robot Magic Code
93-1000997 - Front Automation Safety Par Only Front Door Robot Safety Parameter

93-1000976 - INSTALL KIT HRP-1 ST-10/28 NOT CE

or

93-1000906 - INSTALL KIT HRP-1 ST-10/15 CE

or

93-1000907 - INSTALL KIT HRP-1 ST-20/25/28 CE

ST-10/15/20/25/28 HRP-1 Install Kit

or

CE ST-10/15 HRP-1 Install Kit

or

CE ST-20/25/28 HRP-1 Install Kit

One of these Robot Safety Devices:

93-1000894   HRP-1 SAFETY FENCE VMC/ST

08-1897   Laser Area Scanner Kit 

08-1899   Multi-sided Light Curtain HRP Kit

 Robot Safety Device

 Important: HE machines with an autodoor that are ordered with a robot or APL will not come with an edge sensor because these automation options come with a fence. If the machine is going to be ran without the automation option that has the fence, you will need to order and install an edge sensor for the machine. Reference the applicable edge sensor procedures for the correct part number to order:

Lathe Setup

1

Remove the auto door cover [1].

2

ST-20/25:

For machines with the switch bracket holes on the roof panel. Install the switch bracket to the right pair of holes[1] for ST-20/25.

3

NOTE: Check machine for the switch bracket holes in the upper left hand corner of the roof panel before drilling. 

For machines without the switch bracket holes on the roof panel. 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 slot [3].

ST-20/25:

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

4

Connect the DOOR FULLY OPEN switch as labeled:

  • BLK <COM> to the top terminal [1].
  • RED <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.

5

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].  

6

  • 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  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

Note: The Part Number for the spring pusher is: 

  • 30-12642 SPRING PUSHER APL.  The 25mm or 1.0” holder is sold separately.

Robot Lifting

Use this information for lifting/moving Robot Package-7kg.

Robot Installation

1

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Remove the regulator from the robot stand.

Remove the parts template.

Remove the parts template table.

Remove the parts table gussets.

2

Remove the robot shipping bracket hardware and slide it away from the arm.

Install the robot mount.

Remove the robot from its shipping location and install the robot to the robot mount with the cable connector to the rear of the stand.

 Note: Do not reuse the shipping hardware. 

Remove the robot lifting brackets and hardware after installing the robot.

3

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Install the regulator to the robot stand.

Install the parts table gussets.

Install the parts template table.

Install the parts template.

4

Measure these dimensions from the machine skirt to the side panels of the robot table.

 Note: The following dimensions are recommended distances. The position may vary depending on the users application.

Use dimensions below to locate table.

Install the leveling pads and raise the leveling screws until the wheels are off the floor.

Level the table using a bubble level.

Dimension Number ST-10/15 ST-20/25
1 (Table to the front of the machine) 5.0 in. (127.0 mm) 10.5 in. (266.7 mm)
2 (Table to the left side of the machine) 9.0 in. (228.6 mm) 10.0 in. (254.0 mm)

5

Turn the machine air supply OFF.

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

Route the air line from the left side of the regulator [2] to the CALM cabinet and install the push to connect fitting.

Route the air line from the right side of the regulator [3] to the Air 2 Port [4] on the robot and install the push-to-connect fitting.

Turn the machine air supply ON.

Set the regulator to air pressure required for your application. The higher the pressure, the greater the clamp force. Below are the air pressure ranges of the Single and Dual Grippers for the HRP-1.

  • Single Gripper Air Pressure Range - (44.0 - 100.0 psi)
  • Dual Gripper Air Pressure Range - (14.5 - 87.0 psi)

Drawer Cart Installation

To install the HRP-7kg Drawer Cart. Follow the procedure below for installation.

HRP-7kg - Drawer Cart - Installation

Robot Electrical - Installation

 Caution: When you do maintenance or repair on CNC machines and their components, you must always follow basic safety precautions. This decreases the risk of injury and mechanical damage.

  • Set the main circuit breaker to the [OFF] position.

 Danger: Before beginning any work inside the control cabinet the High Voltage indicator light on the 320V Power Supply / Vector Drive must have been off for at least 5 minutes.

Some service procedures can be dangerous or life-threatening. DO NOT attempt a procedure that you do not fully understand. If you have any doubts about doing a procedure contact your Haas Factory Outlet (HFO) and schedule a service visit.

1

ST Robot Interface Mounting Location

The Robot electrical interface box has magnetic mounts to attach to the machine sheet metal.

Mount the Robot electrical interface box [1] as shown in the picture.

Route the Robot interface electrical cables [2] through the bottom of the electrical cabinet.

Perform the following steps to reconnect the robot to the Haas machine.

Main Transformer

  • Connect cable [1] P/N 33-8570 to Main Transformer follow the labels to terminals 77 and 78,  connect the ground loop terminal to chassis.

Note: Some cables may need to be rearranged or doubled up into one port. 

I/O PCB and Maincon PCB

Cable P/N 33-8561C has multiple connections:

  • Connect the E-STOP terminal block connections  to SIO PCB TB-1B (see diagram)[2].
  • Verify the jumper is installed on the SIO PCB at JP1
  • Connect the Setup mode terminal block connections to SIO PCB TB-3B (see diagram)[2].
  • Connect the cable labeled P1 SIO to the SIO PCB at P1[3].
  • Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (P/N 33-0636).  Connect the USB connector end to the Maincon PCB J8 top port (see diagram). Add a ferrite filter 64-1252 to the USB adapter.
  • Mount the 24VDC Power Supply[11] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8561C. Connect cable 33-1910A[10] to the 24VDC Power Supply[11] and plug into P3 on the PSUP PCB.
  • Plug the User Relays into K9 and K10. (see diagram)[12].

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. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

SKBIF to Remote Jog Handle

  • Connect the RJ12 cable 33-8550C[6] from the Remote E-stop box to cable 33-0713 and plug into the SKIBF PCB P9.
  • Remove the jumpers JP2 and JP3 on the SKBIF from the horizontal position and replace them in the vertical position.
  • Plug the RJH-XL cable into the cradle.

 Warning: By not putting the jumpers in the vertical position, E-STOP functionality on the RJH-XL is disabled and the machine is considered unsafe. Jumpers MUST be inserted vertically.

Robot Electrical Box to Robot Control

  • Connect the Robot Control Signal Cables [7] P/N 33-8590A to the Robot Electrical Interface Box. Add a ferrite filter 64-1252 to the RJ-45 cable.

 IMPORTANT: When connecting the Robot Control Signal Cable [7], make sure to line up the M12 connector female notch with the M12 connector male key to prevent any misalignment that could result in damaged pins. 

Robot Power

  • Connect the 230VAC Power Cable [8] P/N 33-8530 to the Robot Electrical Interface Box.

Robot Safety Device 

  • Connect the robot safety device cable [9] from the electrical interface box to the robot safety device—either light curtain, interlock fence or area scanner.  For more information regarding safety devices, refer to the Robot Safety Device section below. 

Robot Safety Device

IMPORTANT: DO NOT OPERATE THE ROBOT UNTIL YOU HAVE PROPERLY CONFIGURED AND TESTED THE OPERATION OF THE SAFETY DEVICE.

Light Curtain:

Cobot packages come with the light curtain emitter and receiver as the default safety device. Follow the procedure below for light curtain installation: 

Light Curtain Installation

NOTE: If the area scanner or HC10 Machine Ready kit was ordered, there will also be a 1M light curtain receiver and emitter. These come with all Cobots. 

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:

Robot Fence Installation

Once the fence is installed, next install the fence panel in between the machine and robot fence.

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: 

Area Scanner Installation

First Power-UP

1

Locate the Mode Switch on the Controller Operator Panel. Use the key retrieved in previous step and switch to Auto Mode[1].

Make sure the [E-STOP] button[2] is not pressed.

Turn on the Robot Control box by rotating the Breaker clockwise to On[3].

2

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

 

3

Press [CURRENT COMMANDS].

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

  • Maximum Jogging Speed to 7.9 inch/sec

Go to the Setup tab. Change the following:

  • Max Robot Speed to 157 in/sec (3988 mm/sec). 
  • Gripper Net Mass - 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.

    Warning: Setting this value incorrectly can cause the Robot Arm to not move correctly.

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

4

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, a Robot Activation window will pop-up. This pop-up shows the Software Version of the machine[3], the MAC address of the robot[4], and the Machine Generated Code[5] used for Machine Time Extension on the portal.

To activate the robot, enter the F Number[6] and Unlock Code[7].

The F Number is found on the robot ID tag that is on the control panel door or on the robot arm.

The Unlock Code is generated after completing the Robot Installation on the Haas Business Center.

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

For Service Activation. In Service Mode, Press [INSERT] to connect the robot. This will be disabled after a Cycle Power.

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

Note: The green button on the control box will light up.

5

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 [Emergency Stop] before working on the robot.

Note: Turn off the machine air by turning the valve in the Air/Lube cabinet and pull the pressure relief valve to release the air in the system.

Gripper Installation

1

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

The location hole should be centered on top.

If you have the dual action gripper, install it to the end of the robot arm by removing the gripper adapter[1] from the gripper assembly.

Mount the adapter to the end of the robot arm.

Mount the gripper assembly to the gripper adapter with gripper 1 on the left. Gripper 1 should be have orange and purple zip ties[2] on the fittings.

2

The location hole should be centered on top.

If you have the single action gripper, install it to the end of the robot arm by removing the gripper adapter plate[1] from the gripper assembly.

Mount the adapter plate[1] to the end of the robot arm with the large pockets on the top and bottom. 

Mount the gripper assembly to the gripper adapter plate.

3

Mount the angle adapter bracket to the end of the robot arm.

Mount the gripper assembly to the gripper angle adapter plate.

4

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

Install the Bar Gripper Bolt Plates[3] using the following hardware: 8 x SHCS M6[4]

  • Torque to 10 ft-lbs.

Install the Bar Gripper Fingers[2] using the following hardware: 8 x SHCS 1/4-20[1]

  • Torque to 13 ft-lbs.

5

Install the gripper fittings to the robot arm.

Purple → 2A    (Open gripper 1)

Orange → 2B    (Close gripper 1)

Grey → 1A    (Open gripper 2)

Blue → 1B    (Close gripper 2)

6

Route the air lines between the robot arm and gripper connecting to the same color coded fittings.

Install conduit to each pair of air lines.

 Note: Turn on the machine air by turning the valve in the CALM cabinet.

Verification

Test the E-stop:

  • Press the Pendant and External E-STOP buttons and make sure the machine generates 107 EMERGENCY STOP alarm.  If the E-STOP button does not generate a 107 EMERGENCY STOP alarm verify the wiring. Load the latest configuration files to enable the RJH-XL.

Test the Robot Safety Device:

Make sure that there is an E-STOP or light curtain triggered icon on the Haas pendant when the robot safety device is triggered. 

  • Fence - Insert the key into the interlock, verify that the two red LED lights in the front of the interlock are OFF. Remove the key from the interlock, verify that the two red LED lights are ON. 
  • Area Scanner - Step inside the protective field, verify that the red LED lights up on the area scanner. Step outside the protective field, verify that the green LED lights up.
  • Light Curtain - Interfere the light curtain beams, verify that the light curtain triggered icon appears on the Haas pendant. Press [RESET]. Step outside of the light curtain beams, verify no icon appears on the Haas pendant. 

 NOTE: If the light curtain triggered icon does not show, verify wiring, alignment and factory setting: 2191 [694:] LIGHT CURTAIN TYPE is set to LC_TYPE_1.

Test the operation of the grippers:

  • Verify that both grippers clamp and unclamp correctly.
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • Press [F2] to clamp/unclamp the Finish Gripper.
  • Press [F3] to clamp/unclamp the Raw Gripper.

Test the Remote Jog Handle:

  • Undock the Remote Jog Handle
  • Press the [HANDLE JOG] button. 
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • On the Remote Handle Jog press the Joint button to go into the Joints Coordinates.
  • Move the robot to a safe location.

 IMPORTANT: If a yellow warning message appears saying "Please activate Light Curtain or Cell Safe" while trying to job the robot, verify the safety parameter was applied by re-uploading the configuration files from HBC. 

Verify Safe / Run Mode Operation

All Haas CNC machines are equipped with a key switch on the side of the control pendant to lock and unlock setup mode. The robot will have the following behaviors depending on what mode is selected. 

  • When the Haas control is in Run mode, mode 1, unlocking the interlock and opening up the gate stops all motion, and no motion can be started until it is closed and locked.
  • When the Haas control is in Set up mode, mode 2, speed limited motion such as jogging an axis of the robot can be performed in order to program a robot's path of motion, pick up position, set a robot's tool center point, (an offset), load and pick up parts from the spindle or part holder in the machine, etc. The programmed path will also be able to be run slowly to prove out the programmed path of the robot. The robot in setup mode can only be handle jogged while the F2 button the RJH is pressed.

HRP-7kg - MOUNT ANGLE SETTING - SETUP

This procedure shows you how to set the Mount Angle Setting for your robot configuration.

  • VF and ST machines, the robot is installed on the angle mount.
  • UMC and DT/DM machines the robot is installed directly to the stand.
HRP-7kg Mount Angle Setting - Setup

FANUC Dual Check Safety (DCS) – Setup

Each Haas Robot is provided with FANUC's DCS System. This allows the user to define speed and positional limits to the robot. If the robot goes outside of these limits, DCS will stop the robot and remove power to the motors.

This procedure will show you how to set up a Fanuc Dual Check Safety (DCS) zone.

FANUC Dual Check Safety (DCS) – Setup

Haas Robot - Quick Start Guide

After installing the robot, set up a job following the procedure below.

Haas Robot - Quick Start Guide

Disable the Robot

To disable the robot 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

 

Haas Robot Package-7kg - DM/DT/UMC-350 - Installation

AD0634

Revision A - 04/2025

Introduction

This procedure will show you how to install the Haas Robot Arm Package-7kg.

Note: The Haas designed work cell made up of a CNC machine and a robot have been evaluated for compliance to CE requirements. Changes or variations to the Haas cell design should be evaluated for compliance to the applicable standards and are the responsibility of the user/integrator.

Machine Requirements:

  • 100.21.000.1120 version or higher
  • DM/DT/UMC-350 Built By Date: (see machine requirements in procedure)
  • 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

Fixing / Anchoring Requirements

  • The Haas Robot Package-7kg is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

The Haas Robot Package Includes the following Components:

  • 30-13411   Robot PKG-7kg Fence Kit (fencing with gate to enclose the operators station)
  • 32-1023     Gate Interlock
  • 32-8585    HRP-7kg Electrical Interface Box Assembly (Includes robot signals and power cables)

Note: The parts above are subject to change and there will be some variation depending on build date. 

The Haas Robot Package needs the following components to be field installed on a Haas Machine:

PART NUMBER DESCRIPTION
93-1001031 - HRP Ordered Param Robot Magic Code

93-1000997 - Front Automation Safety Par Only

or

93-1000996 - Side Automation Safety Par Only

Front Door Robot Safety Parameter

or

Side Window Robot Safety Parameter

93-1001202 - INSTALL KIT HRP1 UMC-350,DT,DM NOT CE

or

93-1000908 - INSTALL KIT HRP-1 UMC-350,DT,DM CE

DT/DM/UMC-350 HRP-1 Install Kit

or

CE DT/DM/UMC-350 HRP-1 Install Kit

One of these Robot Safety Devices:

93-1000895   HRP-1 SAFETY FENCE UMC/DT

08-1897   Laser Area Scanner Kit 

08-1899   Multi-sided Light Curtain HRP Kit

 Robot Safety Device

 Important: HE machines with an autodoor that are ordered with a robot or APL will not come with an edge sensor because these automation options come with a fence. If the machine is going to be ran without the automation option that has the fence, you will need to order and install an edge sensor for the machine. Reference the applicable edge sensor procedures for the correct part number to order:

Machine Setup

1

Remove the cover [1] and its hardware [2] to expose the air cylinder [4] of the Auto Window and raise the air cylinder [4] so that the brackets [3] and air cylinder are attached as shown.

The gray and yellow air line tubing coming from the lube panel will need to be connected to the Auto Window air cylinder, the ports on the air cylinder will have gray and yellow zip ties to show where each tubing connects.

2

  • 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 in the tool carousel.
  • Program the following steps to the beginning of any  program to make sure the part is properly seated into the chuck:
    • Locate the spring pusher above the part
    • Move the Z axis to compress the spring about 0.50 inches or 12.7 mm
    • Open the vise with a dwell of one second
    • Close the vise with a dwell of one second

Note: The Part Number for the spring pusher is: 

  • 30-12642 SPRING PUSHER APL.  The 25mm or 1.0” holder is sold separately.

Robot Lifting

Use this information for lifting/moving Robot Package-7kg.

Robot Installation

1

Measure these dimensions from the machine skirt to the side panels of the table.

Note: The following dimensions are recommended distances. The position may vary depending on the users application.

The Haas Robot Package 1 is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

Place the robot table to the right of the machine. Use dimensions below to locate the table.

Install the leveling pads and raise the leveling screws until the wheels are off the floor.

Level the table using a bubble level.

Dimension Number DM/DT/UMC-350
1 (Table to the right side of the machine) 2.0 in. (50.8 mm)
2 (Table to the front side of the machine) 8.0 in. (203.2mm)

2

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Remove the regulator from the robot stand.

Remove the parts template.

Remove the parts template table.

Remove the parts table gussets.

3

Remove the shipping bracket and its hardware [1].

4

The robot will need to be unbolted and rotated clockwise 90 degrees so that it sits with the cable connector [1] facing towards the front of the machine as shown.

5

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Install the regulator to the robot stand.

Install the parts table gussets.

Install the parts template table.

Install the parts template.

6

Turn the machine air supply OFF.

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

Route the air line from the left side of the regulator along the machine skirt, behind the machine into the CALM cabinet.

Route the air line from the right side of the regulator to the Air 2 Port on the robot and install the push to connect fitting.

Turn the machine air supply ON.

Set the regulator to air pressure required for your application. The higher the pressure, the greater the clamp force. Below are the air pressure ranges of the Single and Dual Grippers for the HRP-1.

  • Single Gripper Air Pressure Range - (44.0 - 100.0 psi)
  • Dual Gripper Air Pressure Range - (14.5 - 87.0 psi)

Robot Electrical - Installation

 Caution: When you do maintenance or repair on CNC machines and their components, you must always follow basic safety precautions. This decreases the risk of injury and mechanical damage.

  • Set the main circuit breaker to the [OFF] position.

 Danger: Before beginning any work inside the control cabinet the High Voltage indicator light on the 320V Power Supply / Vector Drive must have been off for at least 5 minutes.

Some service procedures can be dangerous or life-threatening. DO NOT attempt a procedure that you do not fully understand. If you have any doubts about doing a procedure contact your Haas Factory Outlet (HFO) and schedule a service visit.

1

DM/DT/UMC-350 Robot Interface Mounting Location

The Robot electrical interface box has magnetic mounts to attach to the fence sheet metal.

Mount the Robot electrical interface box [1] next to the CALM cabinet as shown in the image.

 Note: Make sure the Interface box is mounted in a location so the height decal [2] can still be seen.

Route the Robot interface electrical cables [3] along the enclosure with the magnetic mounts and zipties. Route the cable through the bottom of the electrical cabinet.

Perform the following steps to reconnect the robot to the Haas machine.
 

Main Transformer

  • Connect cable [1] P/N 33-8570 to Main Transformer follow the labels to terminals 77 and 78,  connect the ground loop terminal to chassis.

I/O PCB and Maincon PCB

Cable P/N 33-8561C has multiple connections:

  • Connect the E-STOP terminal block connections  to SIO PCB TB-1B (see diagram)[2].
  • Verify the jumper is installed on the SIO PCB at JP1
  • Connect the Setup mode terminal block connections to SIO PCB TB-3B (see diagram)[2].
  • Connect the cable labeled P1 SIO to the SIO PCB at P1[3].
  • Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (P/N 33-0636).  Connect the USB connector end to the Maincon PCB J8 top port (see diagram). Add a ferrite filter 64-1252 to the USB adapter.
  • Mount the 24VDC Power Supply[11] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8561C. Connect cable 33-1910A[10] to the 24VDC Power Supply[11] and plug into P3 on the PSUP PCB.
  • Plug the User Relays into K9 and K10. (see diagram)[12].

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. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

SKBIF to Remote Jog Handle

  • Connect the RJ12 cable 33-8550C[6] from the Remote E-stop box to cable 33-0713 and plug into the SKIBF PCB P9.
  • Remove the jumpers JP2 and JP3 on the SKBIF from the horizontal position and replace them in the vertical position.
  • Plug the RJH-XL cable into the cradle.

 Warning: By not putting the jumpers in the vertical position, E-STOP functionality on the RJH-XL is disabled and the machine is considered unsafe. Jumpers MUST be inserted vertically.

Robot Electrical Box to Robot Control

  • Connect the Robot Control Signal Cables [7] P/N 33-8590A to the Robot Electrical Interface Box. Add a ferrite filter 64-1252 to the RJ-45 cable.

 IMPORTANT: When connecting the Robot Control Signal Cable [7], make sure to line up the M12 connector female notch with the M12 connector male key to prevent any misalignment that could result in damaged pins. 

Robot Power

  • Connect the 230VAC Power Cable [8] P/N 33-8530 to the Robot Electrical Interface Box.

Robot Safety Device 

  • Connect the robot safety device cable [9] from the electrical interface box to the robot safety device—either light curtain, interlock fence or area scanner.  For more information regarding safety devices, refer to the Robot Safety Device section below. 

Robot Safety Device

IMPORTANT: DO NOT OPERATE THE ROBOT UNTIL YOU HAVE PROPERLY CONFIGURED AND TESTED THE OPERATION OF THE SAFETY DEVICE.

Light Curtain:

Cobot packages come with the light curtain emitter and receiver as the default safety device. Follow the procedure below for light curtain installation: 

Light Curtain Installation

NOTE: If the area scanner or HC10 Machine Ready kit was ordered, there will also be a 1M light curtain receiver and emitter. These come with all Cobots. 

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:

Robot Fence Installation

Once the fence is installed, next install the fence panel in between the machine and robot fence starting with the panel that gets attached to the top of the machine first.

Note: The sheet metal wall panels that connect the fence to the machine enclosure will need to be installed using the provided self-tapping screws and will not line up with any holes.

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: 

Area Scanner Installation

First Power-UP

1

Locate the Mode Switch on the Controller Operator Panel. Use the key retrieved in previous step and switch to Auto Mode[1].

Make sure the [E-STOP] button[2] is not pressed.

Turn on the Robot Control box by rotating the Breaker clockwise to On[3].

2

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

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

 

3

Press [CURRENT COMMANDS].

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

  • Maximum Jogging Speed to 7.9 inch/sec

Go to the Setup tab. Change the following:

  • Max Robot Speed to 157 in/sec (3988 mm/sec).
  • Gripper Net Mass - 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.

    Warning: Setting this value incorrectly can cause the Robot Arm to not move correctly.

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

4

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, a Robot Activation window will pop-up. This pop-up shows the Software Version of the machine[3], the MAC address of the robot[4], and the Machine Generated Code[5] used for Machine Time Extension on the portal.

To activate the robot, enter the F Number[6] and Unlock Code[7].

The F Number is found on the robot ID tag that is on the control panel door or on the robot arm.

The Unlock Code is generated after completing the Robot Installation on the Haas Business Center.

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

For Service Activation. In Service Mode, Press [INSERT] to connect the robot. This will be disabled after a Cycle Power.

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

Note: The green button on the control box will light up.

5

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 [Emergency Stop] before working on the robot.

Note: Turn off the machine air by turning the valve in the Air/Lube cabinet and pull the pressure relief valve to release the air in the system.

Gripper Installation

1

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

The location hole should be centered on top.

If you have the dual action gripper, install it to the end of the robot arm by removing the gripper adapter[1] from the gripper assembly.

Mount the adapter to the end of the robot arm.

Mount the gripper assembly to the gripper adapter with gripper 1 on the left. Gripper 1 should be have orange and purple zip ties[2] on the fittings.

2

Mount the angle adapter bracket to the end of the robot arm.

Mount the gripper assembly to the gripper angle adapter plate.

3

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

Install the Bar Gripper Bolt Plates[3] using the following hardware: 8 x SHCS M6[4]

  • Torque to 10 ft-lbs.

Install the Bar Gripper Fingers[2] using the following hardware: 8 x SHCS 1/4-20[1]

  • Torque to 13 ft-lbs.

4

Install the gripper fittings to the robot arm.

Purple → 2A    (Open gripper 1)

Orange → 2B    (Close gripper 1)

Grey → 1A    (Open gripper 2)

Blue → 1B    (Close gripper 2)

5

Route the air lines between the robot arm and gripper connecting to the same color coded fittings.

Install conduit to each pair of air lines.

 Note: Turn on the machine air by turning the valve in the CALM cabinet.

Verification

Test the E-stop:

  • Press the Pendant and External E-STOP buttons and make sure the machine generates 107 EMERGENCY STOP alarm.  If the E-STOP button does not generate a 107 EMERGENCY STOP alarm verify the wiring. Load the latest configuration files to enable the RJH-XL.

Test the Robot Safety Device:

Make sure that there is an E-STOP or light curtain triggered icon on the Haas pendant when the robot safety device is triggered. 

  • Fence - Insert the key into the interlock, verify that the two red LED lights in the front of the interlock are OFF. Remove the key from the interlock, verify that the two red LED lights are ON. 
  • Area Scanner - Step inside the protective field, verify that the red LED lights up on the area scanner. Step outside the protective field, verify that the green LED lights up.
  • Light Curtain - Interfere the light curtain beams, verify that the light curtain triggered icon appears on the Haas pendant. Press [RESET]. Step outside of the light curtain beams, verify no icon appears on the Haas pendant. 

 NOTE: If the light curtain triggered icon does not show, verify wiring, alignment and factory setting: 2191 [694:] LIGHT CURTAIN TYPE is set to LC_TYPE_1.

Test the operation of the grippers:

  • Verify that both grippers clamp and unclamp correctly.
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • Press [F2] to clamp/unclamp the Finish Gripper.
  • Press [F3] to clamp/unclamp the Raw Gripper.

Test the Remote Jog Handle:

  • Undock the Remote Jog Handle
  • Press the [HANDLE JOG] button. 
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • On the Remote Handle Jog press the Joint button to go into the Joints Coordinates.
  • Move the robot to a safe location.

 IMPORTANT: If a yellow warning message appears saying "Please activate Light Curtain or Cell Safe" while trying to job the robot, verify the safety parameter was applied by re-uploading the configuration files from HBC. 

Verify Safe / Run Mode Operation

All Haas CNC machines are equipped with a key switch on the side of the control pendant to lock and unlock setup mode. The robot will have the following behaviors depending on what mode is selected. 

  • When the Haas control is in Run mode, mode 1, unlocking the interlock and opening up the gate stops all motion, and no motion can be started until it is closed and locked.
  • When the Haas control is in Set up mode, mode 2, speed limited motion such as jogging an axis of the robot can be performed in order to program a robot's path of motion, pick up position, set a robot's tool center point, (an offset), load and pick up parts from the spindle or part holder in the machine, etc. The programmed path will also be able to be run slowly to prove out the programmed path of the robot. The robot in setup mode can only be handle jogged while the F2 button the RJH is pressed.

HRP-7kg - MOUNT ANGLE SETTING - SETUP

This procedure shows you how to set the Mount Angle Setting for your robot configuration.

  • VF and ST machines, the robot is installed on the angle mount.
  • UMC and DT/DM machines the robot is installed directly to the stand.

Note: The default setting will be for the VF and ST machines, use the procedure below to make sure the UMC and DT/DM machines value is changed correctly.

HRP-7kg Mount Angle Setting - Setup

FANUC Dual Check Safety (DCS) – Setup

Each Haas Robot is provided with FANUC's DCS System. This allows the user to define speed and positional limits to the robot. If the robot goes outside of these limits, DCS will stop the robot and remove power to the motors.

This procedure will show you how to set up a Fanuc Dual Check Safety (DCS) zone.

FANUC Dual Check Safety (DCS) – Setup

Haas Robot - Quick Start Guide

After installing the robot, set up a job following the procedure below.

Haas Robot - Quick Start Guide

Disable the Robot

To disable the robot 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

Haas Robot Package-7kg - UMC-400/500/SS - Installation

AD0638

Revision A - 04/2025

Introduction

This procedure will show you how to install the Haas Robot Arm Package-7kg.

Note: The Haas designed work cell made up of a CNC machine and a robot have been evaluated for compliance to CE requirements. Changes or variations to the Haas cell design should be evaluated for compliance to the applicable standards and are the responsibility of the user/integrator.

Machine Requirements:

  • 100.21.000.1120 version or higher
  • UMC-400/SS or UMC-500/SS Built By Date: (see machine requirements in procedure)
    • Haas Auto Window Option, 90 Degree Control Cabinet, Haas Workholding Ready.
  • Remote Jog Handle - XL 93-1000610 REMOTE JOG HANDLE TOUCH LCD (RJH-XL)
  • I/O PCB HINGE DOOR 93-1000297 I/O DOOR ASSY HINGED

Fixing / Anchoring Requirements

The Haas Robot Package-7kg needs to be anchored according to Fanuc's recommendation to be sufficiently stable when used according to Haas defined part size and weight limits. See the Robot Anchoring section below.

The Haas Robot Package Includes the following Components:

  • 30-13411   Robot PKG-7kg Fence Kit (fencing with gate to enclose the operators station)
  • 32-1023     Gate Interlock
  • 32-8585    HRP-7kg Electrical Interface Box Assembly (Includes robot signals and power cables)

 Note: The parts above are subject to change and there will be some variation depending on build date. 

 Note: In order for HRP-7kg dual grippers to reach the vise on a UMC-500, the B-axis may need to be tilted toward the robot.

The Haas Robot Package needs the following components to be field installed on a Haas Machine:

PART NUMBER DESCRIPTION
93-1001031 - HRP Ordered Param Robot Magic Code

93-1000997 - Front Automation Safety Par Only

or

93-1000996 - Side Automation Safety Par Only

Front Door Robot Safety Parameter

or

Side Window Robot Safety Parameter

93-1001202 - INSTALL KIT HRP1 UMC NOT CE

or

93-1001208 - INSTALL KIT HRP-1 UMC-400 CE

or

93-1000905 - INSTALL KIT HRP-1 UMC-500 CE

UMC HRP-1 Install Kit

or

CE UMC-400 HRP-1 Install Kit

or

CE UMC-500 HRP-1 Install Kit

One of these Robot Safety Devices:

93-1000895   HRP-1 SAFETY FENCE UMC/DT

08-1897   Laser Area Scanner Kit 

08-1899   Multi-sided Light Curtain HRP Kit

 Robot Safety Device

Machine Setup

1

Remove the hardware to the air cylinder of the Auto Window and raise the air cylinder [1] so that the brackets and air cylinder are attached as shown.

The gray and yellow air line tubing coming from the lube panel will need to be connected to the Auto Window air cylinder, the ports on the air cylinder will have gray and yellow zip ties to show where each tubing connects. Install the cover [2] over the air cylinder of the Auto Window.

2

  • 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 in the tool carousel.
  • Program the following steps to the beginning of any  program to make sure the part is properly seated into the chuck:
    • Locate the spring pusher above the part
    • Move the Z axis to compress the spring about 0.50 inches or 12.7 mm
    • Open the vise with a dwell of one second
    • Close the vise with a dwell of one second

Note: The Part Number for the spring pusher is: 

  • 30-12642 SPRING PUSHER APL.  The 25mm or 1.0” holder is sold separately.

Robot Lifting

Use this information for lifting/moving Robot Package-7kg.

Robot Installation

1

Measure these dimensions from the machine skirt to the side panels of the table.

Note: The following dimensions are recommended distances. The position may vary depending on the users application.

The Haas Robot Package 1 is configured and sold by Haas with a pedestal/table that is sufficiently stable when used according to Haas defined part size and weight limits. 

Place the robot table to the right of the machine. Use dimensions below to locate table.

Install the leveling pads and raise the leveling screws until the wheels are off the floor.

Level the table using a bubble level.

Dimension Number UMC-400/400SS UMC-500/500SS
1 (Table to the right side of the machine) 5.0 in. (127 mm) 2.0 in. (50.8 mm)
2 (Table to the front side of the machine) 4.0 in. (101.6 mm) 5.0 in. (127.0 mm)

2

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Remove the regulator from the robot stand.

Remove the parts template.

Remove the parts template table.

Remove the parts table gussets.

3

Remove the shipping bracket and its hardware [1].

The robot will need to be unbolted and rotated clockwise 90 degrees so that it sits as shown in [2].

Note: Move the robot to the alternate side of the table so that it matches the image if necessary.

4

 Note: Move the applicable parts to the alternate side to match the configuration as necessary.

Install the regulator to the robot stand.

Install the parts table gussets.

Install the parts template table.

Install the parts template.

5

Turn the machine air supply OFF.

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

Route the air line from the left side of the regulator along the machine skirt, behind the machine into the CALM cabinet.

Route the air line from the right side of the regulator to the Air 2 Port on the robot and install the push to connect fitting.

Turn the machine air supply ON.

Set the regulator to air pressure required for your application. The higher the pressure, the greater the clamp force. Below are the air pressure ranges of the Single and Dual Grippers for the HRP-1.

  • Single Gripper Air Pressure Range - (44.0 - 100.0 psi)
  • Dual Gripper Air Pressure Range - (14.5 - 87.0 psi)

Robot Electrical - Installation

 Caution: When you do maintenance or repair on CNC machines and their components, you must always follow basic safety precautions. This decreases the risk of injury and mechanical damage.

  • Set the main circuit breaker to the [OFF] position.

 Danger: Before beginning any work inside the control cabinet the High Voltage indicator light on the 320V Power Supply / Vector Drive must have been off for at least 5 minutes.

Some service procedures can be dangerous or life-threatening. DO NOT attempt a procedure that you do not fully understand. If you have any doubts about doing a procedure contact your Haas Factory Outlet (HFO) and schedule a service visit.

1

UMC Robot Interface Mounting Location

The Robot electrical interface box has magnetic mounts to attach to the fence sheet metal.

Mount the Robot electrical interface box [1] as shown in the picture.

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

Perform the following steps to reconnect the robot to the Haas machine.
 

Main Transformer

  • Connect cable [1] P/N 33-8570 to Main Transformer follow the labels to terminals 77 and 78,  connect the ground loop terminal to chassis.

I/O PCB and Maincon PCB

Cable P/N 33-8561C has multiple connections:

  • Connect the E-STOP terminal block connections  to SIO PCB TB-1B (see diagram)[2].
  • Verify the jumper is installed on the SIO PCB at JP1
  • Connect the Setup mode terminal block connections to SIO PCB TB-3B (see diagram)[2].
  • Connect the cable labeled P1 SIO to the SIO PCB at P1[3].
  • Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (P/N 33-0636).  Connect the USB connector end to the Maincon PCB J8 top port (see diagram). Add a ferrite filter 64-1252 to the USB adapter.
  • Mount the 24VDC Power Supply[11] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8561C. Connect cable 33-1910A[10] to the 24VDC Power Supply[11] and plug into P3 on the PSUP PCB.
  • Plug the User Relays into K9 and K10. (see diagram)[12].

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. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

SKBIF to Remote Jog Handle

  • Connect the RJ12 cable 33-8550C[6] from the Remote E-stop box to cable 33-0713 and plug into the SKIBF PCB P9.
  • Remove the jumpers JP2 and JP3 on the SKBIF from the horizontal position and replace them in the vertical position.
  • Plug the RJH-XL cable into the cradle.

 Warning: By not putting the jumpers in the vertical position, E-STOP functionality on the RJH-XL is disabled and the machine is considered unsafe. Jumpers MUST be inserted vertically.

Robot Electrical Box to Robot Control

  • Connect the Robot Control Signal Cables [7] P/N 33-8590A to the Robot Electrical Interface Box. Add a ferrite filter 64-1252 to the RJ-45 cable.

 IMPORTANT: When connecting the Robot Control Signal Cable [7], make sure to line up the M12 connector female notch with the M12 connector male key to prevent any misalignment that could result in damaged pins. 

Robot Power

  • Connect the 230VAC Power Cable [8] P/N 33-8530 to the Robot Electrical Interface Box.

Robot Safety Device 

  • Connect the robot safety device cable [9] from the electrical interface box to the robot safety device—either light curtain, interlock fence or area scanner.  For more information regarding safety devices, refer to the Robot Safety Device section below. 

Robot Safety Device

IMPORTANT: DO NOT OPERATE THE ROBOT UNTIL YOU HAVE PROPERLY CONFIGURED AND TESTED THE OPERATION OF THE SAFETY DEVICE.

Light Curtain:

Cobot packages come with the light curtain emitter and receiver as the default safety device. Follow the procedure below for light curtain installation: 

Light Curtain Installation

NOTE: If the area scanner or HC10 Machine Ready kit was ordered, there will also be a 1M light curtain receiver and emitter. These come with all Cobots. 

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:

Robot Fence Installation

Once the fence is installed, next install the fence panel in between the machine and robot fence starting with the panel that gets attached to the top of the machine first.

Note: The sheet metal wall panels that connect the fence to the machine enclosure will need to be installed using the provided self-tapping screws and will not line up with any holes.

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: 

Area Scanner Installation

First Power-UP

1

Locate the Mode Switch on the Controller Operator Panel. Use the key retrieved in previous step and switch to Auto Mode[1].

Make sure the [E-STOP] button[2] is not pressed.

Turn on the Robot Control box by rotating the Breaker clockwise to On[3].

2

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

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

 

3

Press [CURRENT COMMANDS].

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

  • Maximum Jogging Speed to 7.9 inch/sec

Go to the Setup tab. Change the following:

  • Max Robot Speed to 157 in/sec (3988 mm/sec). 
  • Gripper Net Mass - 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.

    Warning: Setting this value incorrectly can cause the Robot Arm to not move correctly.

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

4

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, a Robot Activation window will pop-up. This pop-up shows the Software Version of the machine[3], the MAC address of the robot[4], and the Machine Generated Code[5] used for Machine Time Extension on the portal.

To activate the robot, enter the F Number[6] and Unlock Code[7].

The F Number is found on the robot ID tag that is on the control panel door or on the robot arm.

The Unlock Code is generated after completing the Robot Installation on the Haas Business Center.

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

For Service Activation. In Service Mode, Press [INSERT] to connect the robot. This will be disabled after a Cycle Power.

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

Note: The green button on the control box will light up.

5

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 [Emergency Stop] before working on the robot.

Note: Turn off the machine air by turning the valve in the Air/Lube cabinet and pull the pressure relief valve to release the air in the system.

Gripper Installation

1

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

The location hole should be centered on top.

If you have the dual action gripper, install it to the end of the robot arm by removing the gripper adapter[1] from the gripper assembly.

Mount the adapter to the end of the robot arm.

Mount the gripper assembly to the gripper adapter with gripper 1 on the left. Gripper 1 should be have orange and purple zip ties[2] on the fittings.

2

Mount the angle adapter bracket to the end of the robot arm.

Mount the gripper assembly to the gripper angle adapter plate.

3

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

Install the Bar Gripper Bolt Plates[3] using the following hardware: 8 x SHCS M6[4]

  • Torque to 10 ft-lbs.

Install the Bar Gripper Fingers[2] using the following hardware: 8 x SHCS 1/4-20[1]

  • Torque to 13 ft-lbs.

4

Install the gripper fittings to the robot arm.

Purple → 2A    (Open gripper 1)

Orange → 2B    (Close gripper 1)

Grey → 1A    (Open gripper 2)

Blue → 1B    (Close gripper 2)

5

Route the air lines between the robot arm and gripper connecting to the same color coded fittings.

Install conduit to each pair of air lines.

 Note: Turn on the machine air by turning the valve in the CALM cabinet.

6

In order for HRP-1 dual grippers to reach the vise on a UMC, the B axis may need to be tilted toward the robot. 

7

Once a loading position is determined, the loading position can be saved by going to Current Commands -> Devices -> Automatic Part Loader -> Load part [2] -> Internal Axes Location for Load [1].  Press F2 to set the current position of the machine as the loading position. 

More information about setting up HRP templates can be found at HRP - Operations. 

If the load and unload locations need to be different, custom templates will need to be used. HRP - Operations - 9.3 - Custom template. 

Verification

Test the E-stop:

  • Press the Pendant and External E-STOP buttons and make sure the machine generates 107 EMERGENCY STOP alarm.  If the E-STOP button does not generate a 107 EMERGENCY STOP alarm verify the wiring. Load the latest configuration files to enable the RJH-XL.

Test the Robot Safety Device:

Make sure that there is an E-STOP or light curtain triggered icon on the Haas pendant when the robot safety device is triggered. 

  • Fence - Insert the key into the interlock, verify that the two red LED lights in the front of the interlock are OFF. Remove the key from the interlock, verify that the two red LED lights are ON. 
  • Area Scanner - Step inside the protective field, verify that the red LED lights up on the area scanner. Step outside the protective field, verify that the green LED lights up.
  • Light Curtain - Interfere the light curtain beams, verify that the light curtain triggered icon appears on the Haas pendant. Press [RESET]. Step outside of the light curtain beams, verify no icon appears on the Haas pendant. 

 NOTE: If the light curtain triggered icon does not show, verify wiring, alignment and factory setting: 2191 [694:] LIGHT CURTAIN TYPE is set to LC_TYPE_1.

Test the operation of the grippers:

  • Verify that both grippers clamp and unclamp correctly.
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • Press [F2] to clamp/unclamp the Finish Gripper.
  • Press [F3] to clamp/unclamp the Raw Gripper.

Test the Remote Jog Handle:

  • Undock the Remote Jog Handle
  • Press the [HANDLE JOG] button. 
  • Press the [CURRENT COMMANDS]  and go to Devices > Robot > Jogging tab.
  • On the Remote Handle Jog press the Joint button to go into the Joints Coordinates.
  • Move the robot to a safe location.

 IMPORTANT: If a yellow warning message appears saying "Please activate Light Curtain or Cell Safe" while trying to job the robot, verify the safety parameter was applied by re-uploading the configuration files from HBC. 

Verify Safe / Run Mode Operation

All Haas CNC machines are equipped with a key switch on the side of the control pendant to lock and unlock setup mode. The robot will have the following behaviors depending on what mode is selected. 

  • When the Haas control is in Run mode, mode 1, unlocking the interlock and opening up the gate stops all motion, and no motion can be started until it is closed and locked.
  • When the Haas control is in Set up mode, mode 2, speed limited motion such as jogging an axis of the robot can be performed in order to program a robot's path of motion, pick up position, set a robot's tool center point, (an offset), load and pick up parts from the spindle or part holder in the machine, etc. The programmed path will also be able to be run slowly to prove out the programmed path of the robot. The robot in setup mode can only be handle jogged while the F2 button the RJH is pressed.

HRP-7kg - MOUNT ANGLE SETTING - SETUP

This procedure shows you how to set the Mount Angle Setting for your robot configuration.

  • VF and ST machines, the robot is installed on the angle mount.
  • UMC and DT/DM machines the robot is installed directly to the stand.

Note: The default setting will be for the VF and ST machines, use the procedure below to make sure the UMC and DT/DM machines value is changed correctly.

HRP-7kg Mount Angle Setting - Setup

FANUC Dual Check Safety (DCS) – Setup

Each Haas Robot is provided with FANUC's DCS System. This allows the user to define speed and positional limits to the robot. If the robot goes outside of these limits, DCS will stop the robot and remove power to the motors.

This procedure will show you how to set up a Fanuc Dual Check Safety (DCS) zone.

FANUC Dual Check Safety (DCS) – Setup

Haas Robot - Quick Start Guide

After installing the robot, set up a job following the procedure below.

Haas Robot - Quick Start Guide
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