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Haas Robot - Quick Start Guide

Last updated: 02/02/2021

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-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.