Haas Robot Package - Troubleshooting Guide

Symptom Table

Alarm / Symptom Possible Cause Corrective Action
9156.406 SRVO-406 DCS SSO SVOFF input 1,1 The K9 and K10 Relays on I/O PCB are not installed. Make sure you have the K9 and K10 relays installed on the I/O PCB.  Refer to the Robot Installation Procedure, Electrical section.
9156.406 SRVO-406 DCS SSO SVOFF input 1,1 The fence is open in Run Mode. Make sure the interlock is working and that machine is receiving the interlock input signal.
The Robot won't Connect to the CNC The wiring from the interface to the Haas Control is not correct. Make sure you have connected the terminal connectors on TB-1B in the correct order.  Refer to the Robot Installation Procedure, Electrical section.
The robot is not unlock and activated. 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, the MAC address of the robot, and the Machine Generated Code used for Machine Time Extension on the portal.
The CNC software is outdated. Make sure the software is 100.20.000.1200 or higher.  Refer to the Robot Installation Procedure machine requirements section.
The Robot IP address and the CNC are mismatched. If your Robot connects with the 192.168.10.1 and the 192.168.10.2 IP addresses.  You will need to upgrade the Robot control 1.15 or higher.  Contact your HFO for more information.
9156.050 Robot Command Failure SRVO-050 Collision Detect Alarm Jogging the robot in setup mode and the center of rotation of J6 is in line with the center of rotation of J4. Then rotating W or P, will cause J4 axis to attempt to rotate at a very fast speed. This singularity point is called the wrist singularity. Press RESET to clear the alarm. Do not jog the robot through this singularity point.
9152.x Robot Hit Joint Limit or robot does not jog Jogging the robot in setup mode and the center of rotation of J6 is in line with the center of rotation of J4. Then rotating W or P, will cause J4 axis to attempt to rotate at a very fast speed, traveling past the travel limit. This singularity point is called the wrist singularity. The Joint Position will be greater than the Robot Joint Travel Limit. The Sub-Code of the alarm represents the joint number. Connect to the robot using the Remote Pendant through the web interface. Clear the alarm and jog the robot joint away from the travel limit. Reconnect to the Haas control.
9147 Robot Protocol Version Mismatch Connecting to a robot that has been power cycled may cause a Version Mismatch. This causes all robot functions to be locked until the alarm is cleared. Release the E-Stop and press RESET to clear the alarm. Then press the E-Stop and press F1 to connect the robot
9150.488 SRVO-488 DCS CPC Speed Limit This alarm is generated when the robot has a DCS Cartesian Position Check Zone setup with a speed limit and the robot is jogged outside the work zone above the speed limit. Lower the feed rate and jog back into the DCS Cartesian Position Check Zone. Verify the work zone is setup correctly by checking the 4D DCS Display.

Connect & Calibrate Haas Robot

Robot Control Wiring

1

Robot Control Box
  • Open the Robot Controller door by using a straight head screwdriver to turn the latch counter-clockwise,  then turn the breaker counter-clockwise past its off position.
  • Remove the cable cover [1] from the robot control box
  • Remove the top cover [2].  This will make the installation of the power cable easier.
  • Feed the 230VAC Power cable P/N 33-5830 [3] as shown. 
  • Feed the Robot Control Signal cables P/N 33-8590 [4] as shown.
      Note:     Make sure the Robot Control signal cables P/N 33-8590 are as far away from the power cable as possible. 

  • Pull enough slack on the cable with ferrules [5] to reach the TB0P20 PCB,  you will add connector to these wires in step 7.
  • Route the RJ45 cable and the cable with the large connector from cable P/N 33-8590 together [6] as shown.

2

To connect the power cable, remove the plastic cover from above the Breaker.  To remove cover, insert a straight-head screwdriver into the opening, and push the tab to the left allowing the cover to slide forward.

Connect the cables to L to 1 and N to 3.  Connect the ground to the plate to the right of the Breaker.

After the power cable is connected, reinsert the plastic cover.

3

Remove the large connector that is on the TB0P20 PCB [1].

Remove the jumpers on pin 5,6,7 and 8 using the tool P/N 89-0002.  Place these jumpers on pins 1,2,3 and 4. [2]

Wire the connector [3] with the cable P/N 33-8590 using the tool P/N 89-0002:

  • Pin 5 = Brown
  • Pin 6 = White
  • Pin 7 = Blue
  • Pin 8 = Grey

Connect the connector to the TB0P20 PCB.

4

Connect the RJ-45 connector to the port [1] located on the PCB that is located on the door.

Find the Safety Card PCB that is located on the Door..

Disconnect the large connector [2] that came in connected to the safety card and neatly tuck it in.

Connect the large connector [3] from cable P/N 33-8590 into the safety card port.

Neatly zip tie all the connections

Before you close the controler door, retrieve the set of keys [4] from inside the door, and store them in a known location outside of the controller for use later in this guide. 

Close the Robot Control box door and use a straight-head screwdriver  to turn the Latch on the outside of the controller counter-clockwise.

Robot Joint Travel Limits

Robot Joint Travel Limits

J1 (+/-170°)

J2 (+/-122.5°)

J3 (+/-215°)

J4 (+/-190°)

J5 (+/-125°)

J6 (+/-360°)

 

Robot IP Address

Depending on when the Robot was built. The IP address of the robot control may be different then the new IP address in the Haas control. Disable both the wired and wireless network connection and change the following parameters:

2262 Robot IP Address to 192.168.1.10
2263 Aux IP Address to 192.168.1.11

Recheck the connection.

Robot With Light Curtain

Robot Electrical Box to Robot Control
  • Connect the E-STOP cable [1] P/N 33-8550 from Robot Electrical Interface Box  to the Robot External E-stop Box (see diagram).
  • Connect the Robot Control Signal Cables [2] P/N 33-8590A to the Robot Electrical Interface Box.

Robot Power

  • Connect the 230VAC Power Cable [3] P/N 33-8530 to the Robot Electrical Interface Box.

Light Curtain

  • Connect the Light Curtain cables [4] to the Receiver/ Emitter connections at the Robot Electrical Interface box.
Robot Arm
  • Connect the Robot Control Cable [5] to the Robot Arm.

Ground Wire

  • Connect the Ground Wire [6] from the Chassis of the Robot Control to the Robot mount.

Electrical Diagrams

Electrical Cabinet

Robot Electrical Interface Box

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