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11 - HRP - Operation

Haas Robot Package - Operator's/Service Manual


  • 0 - HRP - Table of Contents
  • 1 - HRP - Introduction
  • 2 - HRP - Legal Information
  • 3 - HRP - Safety
  • 4 - HRP-7kg - Installation
  • 5 - HRP-25kg - Installation
  • 6 - HRP-50kg - Installation
  • 7 - HRP - Fence/Interlock Installation
  • 8 - HRP - Area Scanner Installation
  • 9 - HRP - Light Curtain Installation
  • 10 - HRP - FANUC DCS Setup
  • 11 - HRP - Operation
  • 12 - HRP - Maintenance
  • 13 - HRP - Troubleshooting

Go To :

  • 11.1 Haas Robot - Setup
  • 11.2 Haas Robot - Simple Template
  • 11.3 Haas Robot - Custom Template
  • 11.4 Haas Robot - APL Recovery
Recently Updated

Haas Robot - Quick Start Guide


Introduction

This procedure will help you set up a job with your Haas Robot.

Follow the First Power Up section in the Haas Robot Installation Guide to connect the robot to your Haas machine.

 Note: If the machine is Cycle Powered before saving a job, the template info may be lost.

Haas Robot Package-1 - Installation - VMC
Haas Robot Package-1 - Installation - Lathe

General Safety Notes

Operation Safety:
  • Check for damaged grippers every time a new job is run.
  • In the event of a power loss the grippers will remain in the clamp position.
  • In the event of air loss, the grippers will temporary remain in the clamp position.  It is necessary to remedy the situation as overtime the air in the system will bleed off and may cause the part to fall.

Periodic inspection of machine safety features:

  • Inspect fence door interlock mechanism for proper fit and function.  To check the interlock operation refer to the Haas Robot Installation Guides.

Setup / 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.
Haas Robot Package-1 - Installation - VMC
Haas Robot Package-1 - Installation - Lathe

Setup

1

Before setting up a robot job you will need to create a user frame. The user frame will be off the parts table. This will set our X, Y, and Z axes.

There are two coordinate types to jog the robot in. These are Cartesian and Joint. 

The Cartesian coordinate system consists of:

  • X, Y, and Z are linear axes.
  • W rotates about the X axis.
  • P rotates about the Y axis.
  • R rotates about the Z axis.

The Joint coordinate system consists of:

  • J1, J2, J3, J4, J5, and J6.

 

2

Robot Joint Travel Limits

J1 (+/-170°)

J2 (+/-122.5°)

J3 (+/-215°)

J4 (+/-190°)

J5 (+/-125°)

J6 (+/-360°)

 

3

The Three Point Method is used to set our User Frame. Navigate to Current Commands > Devices > Robot > Frames and to the User Frames window. Press [F2] to switch boxes.

Press [INSERT] for the Three Point Method. Then enter a name for the User Frame and press [F2] to record.

4

The first point you will record is the orient point. This will be set with gripper 1’s fingers pointing down and on the table. Jog the robot to this location. Check to make sure all 4 grippers are flat on the table with a piece of paper like touching off a tool on a part. Once our orient point[1] is set, press [F2] to record.

The next point is the X Direction point. Record the Z position on the RJH when in Cartesian Position. Jog the robot up in the Z direction so the gripper fingers clear the table when jogging in the X direction. Jog the robot in the X direction and back to the recorded Z position. The fingers should be touching the table, use the piece of paper to set the grippers back on the table. Record the X direction point[2] by pressing [F2].

Jog the robot in the Y direction. Because the robot is mounted at a 30 degree angle, the Y-direction will travel up away from the table. Jog down in the Z direction back to the table and use the piece of paper to touch off the gripper fingers. Record the Y direction point[3] by pressing [F2].

5

The Direct Entry Method can also be used to set our User Frame. Navigate to Current Commands > Devices > Robot > Frames and to the User Frames window. Press [F2] to switch boxes.

For Robot Package 1 VF/VM & ST Machines Only

Press [ENTER] for the Direct Entry Method. To set the User Frame off of the robot stand. Enter a name for the User Frame and add the following values:

  • X = 0.0
  • Y = 0.0
  • Z = 0.0
  • W = 0.0
  • P = -30.0
  • R = 180.0

This will rotate the robot about Y 30 degrees and Z 180 degrees. The robot will jog with the Z direction perpendicular to the table. Press [ENTER] to record.

6

For Robot Package 2 Machines Only

Navigate to Current Commands > Devices > Robot > Frames and to the User Frames window. Press [F2] to switch boxes.

Press [ENTER] for the Direct Entry Method. To set the User Frame off of the robot stand. Enter a name for the User Frame and add the value from the table below.

This adds a negative degree rotation about the Z-Axis to the world frame to cancel out the rotation of the robot base. Press [ENTER] to record.

Machine

Robot With Weldment Base R Rotation Angle

Robot With Cast Base R Rotation Angle UMC Robot Base Plate R Rotation Angle

ST-20/25 & VF-5

-32.14 -42.91 N/A

ST-20L/25L/30L/35L & VF-1/2/3/4

-36.5 -45.23 N/A
ST-30/35 -40.35 -47.46 N/A
UMC-500/750/1000/1250 N/A N/A -35

7

Press [Insert] to create the User Frame. Navigate to the Jogging tab and select the User Frame that was created to make it active.

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

Setup

1

Operation

  • Max Robot Speed – This setting specifies the maximum robot  speed when the machine is in Run Mode. Enter the speed in the correct units (in/sec or mm/sec) to run the job. This setting can be adjusted up or down if the program requires.

    Note: The maximum Robot speed in Run Mode is 157 in/sec (4000 mm/sec). 
    The maximum Robot speed in Setup Mode is 7.9 in/sec (200 mm/sec).

  • Gripper Net Mass - Enter the Net Mass of the gripper. Refer to the Machine Layout Drawings to get the correct value for this setting.
HRP-1 Single Gripper Layout Drawing
HRP-1 Dual Gripper Layout Drawing
HRP-2 Machine Layout Drawing
HRP-3 Machine Layout Drawing

Warning: 
Setting this value incorrectly can cause the Robot Arm to not move correctly.
 
  • Number of Grippers - Enter the number of grippers.

 

2

Raw Gripper

  • Clamp Output - Select the output to clamp gripper 1.
  • Unclamp Output - Select the output to unclamp gripper 1.
  • Clamp Delay - Enter the number of seconds to delay after gripper 1 has been commanded to clamp or unclamp.
  • Clamp Type - Enter 1 for OD or 2 for ID clamping. 

Finish Gripper

  • Clamp Output - Select the output to clamp gripper 2.
  • Unclamp Output - Select the output to unclamp gripper 2.
  • Clamp Delay - Enter the number of seconds to delay after gripper 2 has been commanded to clamp or unclamp.
  • Clamp Type - Enter 1 for OD or 2 for ID clamping. 

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

 

Dual Gripper Can Not Reach The Vise On UMC Platter

1

In order for the dual grippers to reach the vise, the B axis may need to be tilted away from the robot. 

This is the case for all UMCs with HRP-2. 

2

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. 

General Safety Notes

Operation Safety:
  • Check for damaged grippers every time a new job is run.
  • In the event of a power loss the grippers will remain in the clamp position.
  • In the event of air loss, the grippers will temporary remain in the clamp position.  It is necessary to remedy the situation as overtime the air in the system will bleed off and may cause the part to fall.

Periodic inspection of machine safety features:

  • Inspect fence door interlock mechanism for proper fit and function.  To check the interlock operation refer to the Haas Robot Installation Guides.

Setup / 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.

Simple Template

1

Sequence Type – Enter 0 for Simple Template or 1 for Custom Sequence. See the Custom Sequence Section for more information.

Raw Stock Pickup Method – Enter 0 for Table Grid or 1 for Single Point.

Finished Part Drop Off Method – Enter 0 for for Single Table, 1 for Dual Table, or 2 for Single Point.

Number of Stacked Parts – Enter the number of stacked parts per pocket. Maximum 3 parts.

Note: If using the stacked part feature of two or three parts and the Raw Stock Pickup Method and Finished Part Drop Off Method are both single table. The first part location must be empty.

Number of Rows – Enter the number of rows you want to use on the table.

Numbers of Columns – Enter the number of columns you want to use on the table.

2

Number of Rows – Enter the number of rows you want to use on the table.

Numbers of Columns – Enter the number of columns you want to use on the table.

Distance Between Rows – Enter the incremental distance between the rows.

Distance Between Columns – Enter the incremental distance between the columns.

Raw Stock Height – Enter the height of the raw stock.

Finished Part Height – Enter the height of the finished part.

Part Flip – Enable part flip for two operation jobs.

Raw Stock Mass – Enter the mass of the raw stock.

Finished Part Mass – Enter the mass of the finished part. Operation 1 if Part Flip is enabled.

Finished Dual Sided Part Mass - Enter the mass of the finished part. Operation 2 if part flip is enabled.

Note: The net gripper mass and both finish and raw parts must add to value less than the total max payload of the robot.

Example: Raw Stock Mass [4.0 lbs] + Finished Part Mass [3.8 lbs] + Net Gripper Mass [7.0 lbs] < Max Payload [15.432 lbs].

Load Part - Simple Template

1

Note: For the next setup operations the following commands are available:

  • Press [TURRET FWD] OR [TURRET REV] to index the tool changer. This will be used when setting the Safe Axes Location for Load position
  • Press [F2] to set the reference position. This records the current robot position.
  • Press [F3] to clamp/unclamp the gripper. In the Load Part tab gripper 1 is clamped or unclamped. In the Unload Part tab gripper 2 is actuated.
  • Press [F4] to clamp/unclamp the main spindle chuck.

Robot Speed – Enter the speed for the robot motions at the parts table. Start at a slow speed during setup and after verifying that the job runs correctly, update the speed to the desired cycle time.

  • Slow 1 in/s
  • Medium 3 in/s
  • Fast 6 in/s 

2

Initial Pickup Location – Jog gripper 1 to the first part location on the parts table. Clamp the part by pressing [F3] and then press [F2] to record the reference position.

Tips & Tricks: Pick up the part and realign the part to the first part location on the template and record that position. This will better align the gripper to the part and table.

Move to Above Table – Jog the robot in the Z direction to clear all the parts on the table and press [F2] to record the reference position. This location is also the Recovery Position.

3

Ready Location – Create a motion file that moves the robot from the Above Table Location to the Ready Location. It should be outside the door, with gripper 1 rotated to place the part in the chuck.

Press [ENTER] to create a motion file and press [F1] for Setup Options.

  • Press [1] to set coordinates to Joint.
  • Press [2] to set the speed.
  • Press [3] to set Tool Frame to 1 World Frame.
  • Press [4] to set User Frame to the User Frame created from the Three Point Method.

Jog the robot from the Above Table Location to outside the door while rotating gripper 1. Record positions along the path to create a smooth motion.

Tips & Tricks: Set the first point for this motion file to be away from the Above Table Location in the X & Y direction.

4

Press [ENTER] for Record Options. This creates an action in your motion File.

  • Press [0] to record a position.
  • Press [1] to set the speed of a motion.
  • Press [2] to set the gripper state.
  • Press [3] to set the workholding state.

 Note: The robot template will open/close the grippers and workholding. Inserting a gripper state or workholding state is only for advanced jobs that use part flip.

Press [F2] for Run Options.

  • Press [0] to run the selected position.
  • Press [1] to run all positions in the motions file. 
  • Press [2] to run all positions in reverse.

Press [F3] for Run Options.

  • Press [1] to create a new file.
  • Press [2] to save the file. 
  • Press [3] to load a file.

If you need to clear the motion file, press [F3] to clear table. Press [Y] to reset values and [N] to cancel.

After confirming the motions, press [UNDO] to exit and save the motion file.

Tips & Tricks: As you move the arm towards the door, check and make sure you aren’t over-winding any of the joints by checking their position on the RJH. You can see switch between moving in Joint mode and Cartesian mode by pressing Linear in the lower left corner of the RJH.

Tips & Tricks: At least one of the points in the Ready Location motion file should be recorded in Joint mode and the last position in the Ready Location motion file needs to be recorded in Cartesian mode.

5

Safe Axes Location for Load – Jog the internal axes to ensure the Tool Changer, tools, and B-Axis are clear when loading parts. Press [F2] to record the reference position.

C Axis Orient Position – This field is used to set the chuck orientation when loading a part. Follow the on screen instructions to set the values.

Important: Lathes without a C-Axis or spindle home switch cannot guarantee repeatable spindle orientations, because of this if there is an application that requires a specific spindle orientation then the orientation must be checked and verified when a job is set up and before running any job. 

Chuck Load Location – Create a motion file that moves the robot from the Ready Location to the Chuck Load Location.

Tips & Tricks: The first location recorded in the motion file should be the last location in the Ready Location motion file. Outside the door, with gripper 1 rotated to place the part in the chuck.

6

Jog the robot from the Ready Location to spindle centerline. With the workholding unclamped, jog gripper 1 along spindle centerline towards the chuck. The part should be centered in the jaws and against the back of the jaws. Clamp the chuck and check for movement of the part. Adjust to center the part to the workholding.

Tips & Tricks: After centering the part and clamping the workholding record the last position. Then unclamp the workholding and jog the part out in the Y direction out of the workholding and record and insert that position before the last recorded position.

Tips & Tricks: Decrease the robot speed for better accuracy when loading or unloading a part in the workholding.

Raw Workholding – Select the workholding mechanism to clamp the raw part.

Unload Part - Simple Template

1

Finish Workholding – Select the workholding mechanism to clamp the finished part.

Chuck Pick Up Location – Create a motion file that moves the robot from the Ready Location to the Chuck Pick Up Location. With gripper 2 unclamped, jog and rotate gripper 2 to spindle centerline and locate and clamp the part. When clamping gripper 2, check for movement of the robot and adjust to center the gripper to the part.

2

Gripper Swap Location – Create a motion file that moves the robot from the Chuck Pick Up Location to the Gripper Swap Location. Jog the robot along spindle centerline away from the chuck and rotate the gripper so gripper 1 is aligned to spindle centerline.

Load After Swap – Create a motion file that moves the robot from Gripper Swap Location to the Chuck Load Location. With the workholding unclamped, jog gripper 1 along spindle centerline towards the chuck. The part should be centered in the jaws and against the back of the jaws. Clamp the chuck and check for movement of the part. Adjust to center the part to the workholding.

3

Unload Part Motion – Create a motion file that moves the robot from Chuck Load to the Ready Location. With gripper 1 unclamped, Jog the robot along spindle centerline away from the workholding and outside the door to the Ready Location.

Finished Part Drop Off Method – Select the method for dropping off the finished part. Enter 1 for Single Table, 2 for Symmetric Dual Table, and 3 for Single Point.

Table Drop Off Location – Move the robot from the Ready Location to the first part location on the table. Place the part 0.0625” above the table, press [F3] to unclamp gripper 2. Press [F2] to record the reference position.

Air Dwell – Enter the number of seconds to turn on Air Blast after the part has been removed.

Note: Feature only available on lathe machines with this option installed. Auto Air Jet Blast - Installation.

 Note: Feature only available on mill machines with this option installed. Programmable Air - Installation.

Chuck Rotation Speed – Enter the spindle speed at which the spindle will rotate during Air Blast.

Run Job - Simple Template

1

The Run Job tab allows you to load/run and save a job. It also shows the current Robot mode status and current job running. The file name will be red if the job is not saved and black if saved.

Press [F3] to save the job, type in the desired job name and select the file location. To save the job to the same file location after editing press [INSERT] two times.

Press [F4] to load a job.

Press [F2] to create a new job.

Press [INSERT] to turn APL Mode On/Off.

Press [UNDO] to move robot to Safe Position. This location is the Move to Above Table location recorded on the Load Part tab. If this position is not recorded, this feature is not available. 

Warning: Do not use this feature if the robot is not in a safe position to move from its current position to the Above Table location.

2

Current Part – This field can be updated so that the sequence will start at the specified point.

Next Part – The counter shows the next part.

Completed Part – The counter shows the amount of completed parts. This field can be reset by pressing [ORIGIN].

Total Parts – This field can be changed. The sequence will run until total parts equals completed parts. This would allow the running of a partial table. Set to 0 for unlimited.

Rapid Override – This shows the current rapid override status.

Current State – This shows the current APL state.

Part Flip: If Part Flip is enabled, the programs need to be selected for OP 1 and OP 2.

Program: - Dedicated program to be executed with this job. (Optional if Part Flip is not enabled for the current job.)

3

The first part of the machining program must be an operation to seat the SLUG properly on the Jaws shoulder or stop. The Haas supplied spring plunger can be used or any custom made tool. The Plunger like any tool must have it’s own tool offset and station on the turret.

  • Approach part in rapid motion and stop approximately 0.25” (6 mm) from the part.
  • Feed in and push plunger against the part until spring has compressed ½” (12 mm).
  • Open and Close the chuck using M11 and M10 for part to seat.
  • Retract away from the part in Rapid motion and proceed with machining process

4

After setting up the Job press [INSERT] to turn on APL Mode.

Note: When the machine is in APL Mode the control will load the next part when the machine executes an M299 code. When not running in APL mode the M299 takes the place of an M30 or M99 at the end of a program.

More information on programming can be found in the Operator's Manual.

Press CYCLE START to start your program.

APL Scheduler

The APL scheduler tab allows the user to schedule Robot Jobs.

Note: Turn Setting 131 to OFF to run scheduled jobs.

Job Number: Specifies the job number. Press [ENTER] to create a Program Comment for the Job.

Order: Specifies the order of the jobs. This can be edited to change the order of the scheduled jobs. Press [ENTER] to set the job order.

Status: Specifies if the job is Unscheduled, Scheduled, or Completed. Press [ENTER] to show the Job Status options.

Parts Count: Specifies how many parts the current scheduled job has run. Press [ENTER] to set the part count.

Job Name: This allows the user to select the Robot Job XML. Press [ENTER] to select the Robot Job.

Program Path: Displays the program path that is selected for the job. The program is selected in the Run Job tab.

Prog Comment: Displays the Program Comment entered by the user.

[ENTER] Varies on the current column. See previous section for column info.

[ALTER] Load Job. Loads the highlighted job into the Run Job tab.

[INSERT] Scheduler Mode On/Off. This turns the Scheduler Mode On or Off. This must be set to On to run a Job Schedule. Follows the same rules as APL Mode.

[F2] Schedule. Schedules the highlighted job.

[F3] Add Row. Adds a new Job Number to the APL scheduler.

[DELETE] Delete Row. Deletes the highlighted job. Scheduled jobs cannot be deleted.

Note: The robot will move to the Ready Location of the current job before moving to the next job in the APL Scheduler. Make sure the Ready Location for all jobs will be a safe location and there are no obstructions.

General Safety Notes

Operation Safety:
  • Check for damaged grippers every time a new job is run.
  • In the event of a power loss the grippers will remain in the clamp position.
  • In the event of air loss, the grippers will temporary remain in the clamp position.  It is necessary to remedy the situation as overtime the air in the system will bleed off and may cause the part to fall.

Periodic inspection of machine safety features:

  • Inspect fence door interlock mechanism for proper fit and function.  To check the interlock operation refer to the Haas Robot Installation Guides.

Setup / 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.

Template - Custom Sequence

Sequence Type – Enter 0 for Simple Template or 1 for Custom Sequence.

Number of Stacked Parts – Enter the number of stacked parts per pocket. Maximum 3 parts.

Note: If using the stacked part feature of two or three parts and the Raw Stock Pickup Method and Finished Part Drop Off Method are both single table. The first part location must be empty.

Number of Rows – Enter the number of rows you want to use on the table.

Numbers of Columns – Enter the number of columns you want to use on the table.

Distance Between Rows – Enter the incremental distance between the rows.

Distance Between Columns – Enter the incremental distance between the columns.

Robot Speed – Enter the robot speed for motion at the parts table.

Initial Pickup Location – Jog gripper 1 to the first part location on the parts table. Clamp the part and then press [F2] to record the reference position.

Tips & Tricks: Pick up the part and realign the part to the first part location on the template and record that position. This will better align the gripper to the part and table.

Move to Above Table – Jog the robot in the Z direction to clear all the parts on the table and press [F2] to record the reference position. This location is also the Recovery Position.

Table Drop Off Location – Move the robot from the Ready Location to the first part location on the table. Place the part 0.0625” above the table, unclamp gripper 2. Press [F2] to record the reference position.

Raw Stock Height – Enter the height of the raw stock.

Finished Part Height – Enter the height of the finished part.

Raw Stock Mass – Enter the mass of the raw stock.

Finished Part Mass – Enter the mass of the finished part.

Example: Raw Stock Mass [4.0 lbs] + Finished Part Mass [3.8 lbs] + Net Gripper Mass [7.0 lbs] < Max Payload [15.432 lbs].

Custom - Custom Sequence

1

The Custom tab allows the user to create a set of user defined sequences. Each row is a sequence with an Alias Code, Description of the sequence, and File name.

The sequence is called in the program with M300 Pn. The P code number corresponds to the Alias Code in the current Custom Sequence.

File: Displays the Custom Sequence path that is currently loaded. If the File path is red, it is edited and not saved. The file type is .SQC.

[INSERT] Inserts a row above the higlighted sequence.

[DELETE] Deletes the highlighted sequence.

[ALTER] Renames a Custom Sequence.

[ORIGIN] Clears the Custom Sequence table.

[ENTER] Load a saved motion file.

[F2] Opens the Recorder window. See Custom Recorder step below.

[F3] Saves the Custom Sequence and the created Sequence files.

[F4] Load a saved Custom Sequence.

2

Press [F2] to open the Custom Recorder window, this allows the user to create a custom motion file.

[INSERT] Insert a new row.

[DELETE] Delete the current highlighted row.

[ENTER] Record Options.

  • Press [1] to Record Position.
  • Press [2] to set speed.
  • Press [3] to set the Gripper State.
  • Press [4] to set Workholding State
  • Press [5] to command the Air Blast.
  • Press [6] to command the Auto Door state.
  • Press [7] to set the Main/Sub Spindle Orient.
  • Press [8] to set a Machine Dwell or Robot Dwell.
  • Press [9] to set the state of the robot Pickup or Dropoff. This is used to increment the part counter.
  • Press [10] to Increment Part Indices.

3

[F1] Setup Options. 

  • Press [1] to set coordinates to Joint.
  • Press [2] to set the speed.
  • Press [3] to set Tool Frame to 1 World Frame.
  • Press [4] to set User Frame to the User Frame created from the Three Point Method.

[F2] for Run Options.

  • Press [0] to run the selected position.
  • Press [1] to run all positions in the motions file. 
  • Press [2] to run all positions in reverse.

[F3] for Run Options.

  • Press [1] to create a new file.
  • Press [2] to save the file. 
  • Press [3] to load a file.

Run Job - Custom Sequence

1

The Run Job tab allows you to load/run and save a job. It also shows the current Robot mode status and current job running. The file name will be red if the job is not saved and black if saved.

Press [F3] to save the job, type in the desired job name and select the file location. To save the job to the same file location after editing press [INSERT] two times.

Press [F4] to load a job.

Press [F2] to create a new job.

Press [INSERT] to turn APL Mode On/Off.

Press [UNDO] to move robot to Safe Position. This location is the Move to Above Table location recorded on the Load Part tab. If this position is not recorded, this feature is not available. 

Warning: Do not use this feature if the robot is not in a safe position to move from its current position to the Above Table location.

2

Current Part – This field can be updated so that the sequence will start at the specified point.

Next Part – The counter shows the next part.

Completed Parts – The counter shows the amount of completed parts. This field can be reset by pressing [ORIGIN].

Total Parts – This field can be changed. The sequence will run until total parts equals completed parts. This would allow the running of a partial table. Set to 0 for unlimited parts.

Rapid Override – This shows the current rapid override status.

Current State – This shows the current APL state.

Program: - Dedicated program to be executed with this job. (Optional if Part Flip is not enabled for the current job.)

Pre Run Sequence: - Optional step executed before this job if it is ran in APL scheduler. It can be used to prepare and position APL/Robot for execution.

Post Run Sequence: - Optional step executed at the end of this job if it is ran in APL scheduler. It can be used to move APL/Robot to a safe position between jobs.

3

The first part of the machining program must be an operation to seat the SLUG properly on the Jaws shoulder or stop. The Haas supplied spring plunger can be used or any custom made tool. The Plunger like any tool must have it’s own tool offset and station on the turret.

  • Approach part in rapid motion and stop approximately 0.25” (6 mm) from the part.
  • Feed in and push plunger against the part until spring has compressed ½” (12 mm).
  • Open and Close the chuck using M11 and M10 for part to seat.
  • Retract away from the part in Rapid motion and proceed with machining process

4

After setting up the Job press [INSERT] to turn on APL Mode.

Note: When the machine is in APL Mode the control will load the next part when the machine executes an M299 code. When not running in APL mode the M299 takes the place of an M30 or M99 at the end of a program.

More information on programming can be found in the Operator's Manual.

Press CYCLE START to start your program.

Example Custom Sequence

%
O61121 (CUSTOM PROGRAM);
(#62715 = Current Part);
(#62719 = Max Part Number);
(P1 = FIRST PART PICKUP);
(P2 = MOVE TO READY);
(P3 = LOAD PART INTO CHUCK);
(P4 = UNLOAD THE FINISHED PART);
(P5 = DROPOFF PART);
;
M97 P10 (CALL ROBOT LOAD PROGRAM);
M98 P111 (PART PROGRAM);
M97 P20 (CALL ROBOT UNLOAD PROGRAM);
;
M99; 
;
N10 (ROBOT LOAD PROGRAM);
M300 P1 (FIRST PART PICKUP);
M300 P2 (MOVE TO READY);
;
T4 G00 Y-1. Z-2. (MOVES INTERNAL AXES TO SAFE LOCATIONS);
;
M80 (DOOR OPEN);
;
G04 P5. (DOOR OPEN);
;
M300 P3 (LOAD PART INTO CHUCK);
M300 P3 R0 (BACK TO READY);
;
M81 (DOOR CLOSE);
;
G04 P3. (DOOR CLOSE);
;
M99;
;
N20 (ROBOT UNLOAD PROGRAM);
T4 G00 Y-1. Z-2. (MOVES INTERNAL AXES TO SAFE LOCATIONS);
;
M80 (DOOR OPEN);
;
G04 P2. (DOOR OPEN);
;
M300 P4 (UNLOAD THE FINISHED PART);
;
M300 P4 R0 (BACK TO READY);
;
N200;
;
M81 (DOOR CLOSE);
;
G04 P2. (DOOR CLOSE);
;
N210; 
M300 P2 R0 (MOVE TO DROPOFF TABLE);
M300 P5 (DROPOFF PART);
;
G04 P5.; 
;
N215;
G103 P1 (LIMIT LOOKAHEAD FOR MACRO ASSIGNMENTS); 
IF [ #62715 GT #62719 ] GOTO50;
(FETCH AND TAKE NEXT PART TO READY);
G103;
M99;
;
N50;
M299;
;
%

1

This is an example of Custom Sequence of a robot with a single gripper.

M300 Pn R0 Plays the Sequence in reverse.

M300 Pn Q0 Plays the sequence in the background to the program.

Note: M300 Pn R0 ignores all non-robot related commands when the motion file is ran in reverse. Example of some commands ignored: Machine Dwells, Auto Door commands, Workholding commands, and Spindle Orients.

Robot Macro Variables Table

The macro variables table of local, global, and system variables and their usage follows.

NGC Variable Usage
#62714 Previous Part (Read Only)
#62715 Current Part (Read Only)
#62716 Next Part (Read Only)
#62717 Parts Remaining (Read Only)
#62718 Parts Completed (Read Only)
#62730 Stack Count (Read Only)
#62731 Row Count (Read Only)
#62732 Column Count (Read Only)
#62733 Total Parts (Read Only)
#62734

APL Mode On (Read/Write)


Note: Calling #62734 = 0 is valid, Calling #62734 = 1  causes an “illegal variable alarm”. This macro can only be used to turn the APL Mode OFF.

#62739 APL Needs Recovery (Read Only)
#62747 Rapid Override (Read Only)
#62750 Completed Parts (Read Only)
#62770 Schedular Mode Active (Read Only)
#70220 Robot Connected (Read Only)

Custom Sequence Tips and Tricks

1.       Make sure you are in Cartesian coordinates when jogging the robot. This will make it easier to jog the robot since it moves multiple joints at the same time.
            a.       To switch: Robot > Jogging > Coordinate Type > Cartesian

2.       When recording robot positions, jog one axis then record the position. Do not move multiple axis and record, otherwise you may crash the robot when running the full sequence.
            a.       The robot will take the shortest path from point A to point B, so if you move multiple axes you risk the robot running into itself, the machine, or getting a jogging limit alarm.
            b.       When recording positions, make sure you start from the last commanded position.

3.       The part of the program that will machine the part should be in a separate program. Run it as a sub-program AFTER you move the robot away from the machine and close the door.
            a.       This is to keep M300 calls separate from a program that is designed to machine parts.

4.       Separate the custom job into multiple sequences. Do not try to create one motion sequence that will run the entire job.

5.       After completing a motion sequence, run the full file to get an idea of what the motion will look like.
            a.       Make sure you start from the end position of the last motion sequence that will be ran.

6.       If you get a jogging limit robot alarm, you will need to re-record the sequence that is causing the alarm.
            a.       The path the robot is taking from point A to point B is exceeding one or more of the joint limits. 

Tips & Tricks: Decrease the robot speed for better accuracy when loading or unloading a part in the workholding.

APL Scheduler

The APL scheduler tab allows the user to schedule Robot Jobs.

Note: Turn Setting 131 to OFF to run scheduled jobs.

Job Number: Specifies the job number. Press [ENTER] to create a Program Comment for the Job.

Order: Specifies the order of the jobs. This can be edited to change the order of the scheduled jobs. Press [ENTER] to set the job order.

Status: Specifies if the job is Unscheduled, Scheduled, or Completed. Press [ENTER] to show the Job Status options.

Parts Count: Specifies how many parts the current scheduled job has run. Press [ENTER] to set the part count.

Job Name: This allows the user to select the Robot Job XML. Press [ENTER] to select the Robot Job.

Program Path: Displays the program path that is selected for the job. The program is selected in the Run Job tab.

Prog Comment: Displays the Program Comment entered by the user.

[ENTER] Varies on the current column. See previous section for column info.

[ALTER] Load Job. Loads the highlighted job into the Run Job tab.

[INSERT] Scheduler Mode On/Off. This turns the Scheduler Mode On or Off. This must be set to On to run a Job Schedule. Follows the same rules as APL Mode.

[F2] Schedule. Schedules the highlighted job.

[F3] Add Row. Adds a new Job Number to the APL scheduler.

[DELETE] Delete Row. Deletes the highlighted job. Scheduled jobs cannot be deleted.

Haas Robot - APL Recovery

If the Automatic Part Loader cycles get interrupted you must enter [RECOVER] mode to correct or complete the cycle.

Press the [RECOVER] , the recovery page will display the Workholding/Gripper status and the Suggested Next Action(s).

Automatic Part Loader Recovery Display:

  1. Robot and Machine Functions 
  2. Workholding and Gripper Status 
  3. Suggested Next Action(s) 

[F2] Clamp Raw Gripper. This will clamp the raw gripper.

[F3] Clamp Finish Gripper. This will clamp the finish gripper.

[F4] Clamp/Unclamp Workholding. This will clamp/unclamp the workholding.

[ALTER] Open/Close Auto Door. This will open or close the auto door.

[ORIGIN] Automatic Recovery. This will attempt to recover the APL automatically to its Above Table Location. A safe position needs to be set up in the Robot Template.

Warning: Do not use this feature if the robot is not in a safe position to move from its current position to the Above Table Location.

[Q] Exit Recovery. This will exit the APL recovery display.

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