Servis Ana Sayfa Nasıl Prosedürü Haas Cobot 10 (HC10) - UMC-400/500 - Kurulum - AD0717

Haas Cobot 10 (HC10) - UMC-400/500 - Kurulum - AD0717

5.4 UMC-400/500 Kurulumu

Last updated: 08/08/2025

Haas Cobot 10 (HC10) - UMC-400/500 - Kurulum

AD0717

Revizyon D - 11/2025

Giriş

Bu prosedür size Haas 10KG Cobot (HC10) Kol Paketinin UMC’nize nasıl kurulacağını gösterecektir.

Not: Haas’ın CNC makinesi ve robottan oluşan tasarımlı çalışma hücresi, CE gerekliliklerine uygunluk açısından değerlendirilmiştir. Haas hücre tasarımındaki değişiklikler veya varyasyonlar, geçerli standartlara uygunluk açısından değerlendirilmelidir ve kullanıcının/entegre edenin sorumluluğundadır.

Makine gereksinimleri:

Takım Gereksinimleri:

  • Mini Düz Kafa Tornavida

Fixing / Anchoring Requirements

  • The Haas 10KG Cobot (HC10) 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. 
IMPORTANT:  For more information directly on the Hans Cobot, refer to the Hans Robot Operation Manual for Elfin Software.

There are 3 scenarios in which the cobot option can be installed on a Haas machine:

  1. Cobot option was ordered at the same time as the machine. Both the cobot and the machine are being installed together.
  2. Cobot option is ordered so that it can be installed on a previously installed machine.
  3. Cobot option was previously installed on a machine, but will now be moved to a different Haas machine.

In scenarios 2 and 3, additional parts will need to be ordered under the Serial Number of the Haas machine. See the tables below for what parts are needed in the different scenarios.

Scenario 1 - Cobot and Machine are ordered and installed together

Component Part Number Description
NO ADDITIONAL PARTS NEED TO BE ORDERED WHEN COBOT AND MACHINE ARE ORDERED TOGETHER

Scenario 2 - Cobot being field installed on existing Haas Machine

Component Part Number Description
CHECK TO SEE IF HAAS MACHINE ALREADY HAS THESE FEATURES & PARAMETERS BEFORE ORDERING
Robot Feature Unlock Parameter 93-1001031 Kit activates the robot feature on the Haas machine. To check if you need this kit, go to the Features tab on the Haas Control and check if the Robot option is highlighted. This kit does not include any physical parts.
Load Type Safety Parameters 93-1000997 Front Automation Safety Parameters - Kit is needed when the cobot will be loading parts through the front door of the Haas machine. This kit does not include any physical parts and the autodoor option would need to be purchased and installed separately.
OR  
93-1000996 Side Automation Safetly Parameters - Kit is needed when the cobot will be loading parts through the side window of the Haas machine. This kit does not include any physical parts and the autowindow option would need to be purchased and installed separately.

Scenario 3 - Cobot is being transferred from one machine to a different Haas Machine

Component Part Number Description
Cobot Integration Kit See Integration Kit Compatibility Chart Kit is needed to install parts on the Haas machine to interface with the cobot. This includes the interface box, door switches, etc... as well as the Robot Unlock Feature parameter. This kit only needs to be purchased when transferring a cobot to a new Haas machine since these parts are normally included when a cobot is ordered. 
Load Type Safety Parameters 93-1000997 Front Automation Safety Parameters - Kit is needed when the cobot will be loading parts through the front door of the Haas machine. This kit does not include any physical parts and the autodoor option would need to be purchased and installed separately.
OR  
93-1000996 Side Automation Safetly Parameters - Kit is needed when the cobot will be loading parts through the side window of the Haas machine. This kit does not include any physical parts and the autowindow option would need to be purchased and installed separately.
Safety Device 08-1899 Multi-Sided Light Curtain Kit - Kit is needed if the safety device is NOT going to be transferred from the first machine and the second Haas machine needs it's own safety device. This kit makes a 4-sided protective barrier.
OR  
08-1948 5-Sided Light Curtain Kit - Kit is needed when the safety device is NOT going to be transferred from the first machine machine and the second Haas machine needs it's own safety device. This kit makes a 5-sided protective barrier.
OR  
08-1987 Laser Area Scanner Kit - Kit is needed when the safety device is NOT going to be transferred from the first machine machine and the second Haas machine needs it's own safety device. This area scanner has a sensing distance of 4meters.

Makine Kurulumu

1

Önden Yüklemeli Robot: 

Otomatik kapı motor kapağını çıkarın. 

Yeni yakınlık anahtarı braketini [1] motorun altındaki makineye takın.

Yakınlık anahtarı açma bayrağını [2] yakınlık anahtarı braketinin [1] üstüne takın. 

Yakınlık anahtarı braketini [3] varolan yakınlık anahtarı bloğuna bağlayın [1]. 

Kapıyı normalde açık (NO) yakınlık anahtarını [4] yakınlık anahtarı yuvasına [3] takın.

Otomatik kapı motor kapağını takın. 

Kapı normalde açıkken (NO) kabloları resimde gösterildiği gibi kontrol kabinine yönlendirin.

Yakınlık anahtarı kablosunu SIO PCB P27'ye bağlayın. 

2

  • Yaylı itici ya 25mm veya 1" takım tutucu sığacak bir sapla yapılır
  • Bu takım, takım karuselinde bir takım tutucuyu doldurmalıdır.
  • Parçanın mengeneye düzgün bir biçimde oturmuş olduğundan emin olmak için herhangi bir programın başlangıcına aşağıdaki adımları programlayın:
    • Parçanın üstündeki yay iticisini bulun
    • Yay'ı yaklaşık 0,50 inç veya 12,7 mm sıkıştırmak için Z eksenini hareket ettirin
    • Mengeneyi bir saniyeliğine açın.
    • Mengeneyi bir saniyeliğine kapatın

Not: Yay itici Parça Numarası: 

  • 30-12642 SPRING PUSHER.  25mm veya 1.0” tutucu ayrı satılır.

Cobot Kurulumu

1

Cobot ve kontrol kutusunun eşleşen seri numaralarıyla aynı eşleşen setten olduğunu doğrulayın.

Haas seri numarasının [1] yer aldığı bir çıkartma vardır. Bunların her iki kutuda da aynı olduğundan emin olun.

Tanımlama numarası [2] olan sarı bir daire çıkartma vardır. Bunların her iki kutuda da aynı olduğundan emin olun.

2

Bu boyutları makinenin eteğinden kaidenin yan tarafına kadar ölçün.

 Not: Aşağıdaki boyutlar önerilen mesafelerdir. Pozisyon, kullanıcı uygulamasına bağlı olarak değişebilir. Ön yükleme veya yan yükleme cobot’ları için cobot ve parça tablasında konumlandırma için sonraki adımlara bakın.

Haas Cobot 10’un Haas Cobot kaidesi ile eşleştirilmesi önerilir. Bu kaide, Haas tarafından tanımlanan parça boyutu ve ağırlık limitlerine göre kullanıldığında yeterince sabit olacak şekilde yapılandırılmıştır. 

3

Önden Yükleme:

Kaide ve parça tablasını makineye göre aşağıdaki konuma yerleştirin:

Boyut İngiliz (İnç) Metrik (cm)
Makinenin önünden kaidenin ön tarafına [1] 9,5 inç. 24 cm.
Makinenin solundan kaidenin sol tarafına [2] 38 inç. 96,5 cm.
Makinenin önünden parça tablasının sol ön köşesine [3] 4,5 inç. 11,5 cm.
Makinenin önünden parça tablasının sol arka köşesine [4] 27 inç. 68,5 cm.
Makinenin solundan parça tablasının sol ön köşesine [5] 21 inç. 53 cm.

4

Yandan Yükleme:

Kaide ve parça tablasını makineye göre aşağıdaki konuma yerleştirin:

Boyut UMC-400 UMC-500
Makinenin önünden kaidenin sol tarafına [1] 14,5 inç (36,8 cm.) 17,5 inç (44,5 cm.)
Makinenin sağından kaidenin ön tarafına [2] 4,5 inç (11,4 cm.) 5 inç (12,5 cm.)
Makinenin önünden parça tablasının sol tarafına [3] 3 inç (7,62 cm.) 0 inç (0 cm.)
Makinenin sağından parça tablasının ön tarafına [4] 23,5 inç (59,7 cm.) 24 inç (61 cm.)

5

Kaideyi zemine sabitleyin. Su terazisini kullanarak tablayı tesviye edin. 

 NOT: Ayarlanabilir kaide için, ayar vidalarını [1] gevşeterek ve ardından çatal pimi [2] ayarlayarak istediğiniz yüksekliği ayarlayın. Robotu kurmadan önce ayar vidalarını [1] yeniden sıkın. Kaide üzerine bir su terazisi yerleştirin ve tabandaki (x4) altıgen cıvatayı kullanarak su terazisini X ve Y düzleminde ayarlayın.

Kabloların yeterince gevşek olmasını sağlamak için Cobot kontrol kutusunu [3] doğrudan kaidenin yanına yerleştirin. 

6

Robotu taşıma kutusundan çıkarın. 

 Not: Gerekirse adaptör plakasını kaideyle robot arasına takın. 

Cobot'u kaidenin üzerine takın.

 NOT: Cobot kablo konektörünün [1] makinenin ön tarafı ile aynı olduğundan emin olun. 

ÖNEMLİ: Cobot yaklaşık 40lb'dir ve bu ağırlığı güvenli bir şekilde kaldırabilen bir cihazla kaldırılmalıdır.

Robotu kurduktan sonra robot kaldırma donanımını çıkarın.

7

Cobot ambalajının içinde, aşağıdakiler de dahil olmak üzere yedek parçalarla doldurulmuş küçük bir torba [1] vardır: 

  • Sigorta
  • Vidalar (x2)
  • Kontrol Kutusu Anahtarları

Ekstra M12 konektörüyle doldurulmuş orta boy bir torba [2] vardır. Bu kablo, Uç I/O Modülü için girişleri ve çıkışları yapılandırmak için kullanılabilir. 

Kâğıtlarla doldurulmuş ve Cobot yazılımının indirilmiş olduğu bir USB bellek bulunan büyük bir çanta [3] vardır.

Bu yedek parçaları ileride kullanmak üzere güvenli bir yerde sakladığınızdan emin olun. 

Robot Electrical & Air - Installation

 DANGER: Working with the electrical services required for CNC machines is extremely hazardous and can result in serious injury or death.

Before connecting line wires to the CNC:

  • Turn off all power to the machine at the source.
  • Perform a Lockout-Tagout (LOTO) procedure to ensure the power remains off during service.
  • Verify that power has been disconnected by using an AC voltage detector on all incoming lines.

If you are uncertain about how to safely disconnect power or perform LOTO procedures:

  • Do not proceed.
  • Contact qualified personnel or obtain appropriate assistance before continuing.

Failure to follow these precautions may result in electrical shock, equipment damage, or fatal injury.

 Danger: Before beginning any work inside the control cabinet, verify that the High Voltage indicator light on the 320V Power Supply / Vector Drive has been off for a minimum of five (5) minutes. This waiting period ensures that residual voltage has dissipated and reduces the risk of electric shock.

Certain service procedures involve high-risk electrical components and may pose serious injury or fatality hazards. Technicians must not attempt any procedure unless they have a complete understanding of the steps involved and the associated risks.

If there is any uncertainty regarding a procedure, contact your Haas Factory Outlet (HFO) to arrange for a qualified service technician.

1

Connect Interface Box to Haas Machine:

The robot safety devices interface box 32-9018 has magnetic mounts to attach to the machine sheet metal. Mount the interface box [1] as shown in the picture.

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

NOTE: For information on upgrading the interface box to the Robot Safety Devices Interface Box, refer to the Robot Safety Devices Interface Box - Installation - AD0703. 

2

Connect Interface Box to Haas Control Cabinet:

Connect cable 33-8562C E-STOP terminal block to TB-1B [1] and connect the Setup mode terminal block to TB-3B [1] on the SIO PCB.  

Plug the user relay into K9 and K10 [2].

Verify the jumper is installed on the SIO PCB at JP1.

Connect the pigtail cable labeled P1 SIO to the SIO PCB at P1 [3]

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 on cable 33-8562C. If the machine does not have a Regen Vector Drive, do not plug anything into the connector FILTER OV FAULT.

Connect the RJ-45 cable [4] to Ethernet to USB adapter [5] (33-0636).  Connect the USB connector end to the Maincon PCB J8 top port. Add a ferrite filter [6] to the USB adapter.

Mount the 24VDC Power Supply [7] to the left side of the control cabinet and plug into connector labeled 24V PS on cable 33-8562C. Connect cable 33-1281 [8] to the 24VDC Power Supply [7] and plug into P3 on the PSUP PCB. 

3

For MM/SMM CM/CL machines Without XMR

If P3 is occupied by a jumper connected from P3 [10] to P7 [9] on the PSUP PCB, a splitter cable is needed to allow the 24VDC power supply [7] to be connected to the 120VAC connectors on the PSUP. Connect the male connector of the splitter cable to P3 [10] and then connect the jumper from that cable to P7 [9] and also cable 33-1281 [8].

Note: Make sure that the jumper cable is connected where the red lines up with the red from the splitter cable.

4

Inside the Cobot control box, install part of the robot signals cable (33-1272 or 33-1351).  To do so, remove the safety connector [1] from the Cobot control box in order to install the different colored wires into their respective location

33-1272 / 33-1351 cables [2] going to safety connector:

  • Gray wire to top 24V
  • Red wire to bottom 24V
  • Green wire to EI0
  • Brown wire to EI1
  • Jumper [3] from SA0 to SA1
  • Jumper  [4] from SB0 to SB1

 NOTE: The rest of the wires from this cable are not used. Put some electrical tape on each wire lead and Ziptie the leftover unused wires. 

5

Important: After installing all the cables from the robot signal cable, make sure that the fuse [1] remains installed at all times to protect the Cobot control box.

6

Connect Cobot to the Interface Box:

Connect the RJ45 ethernet cable [1] from the Cobot Control Box to the interface box. Add a ferrite filter [2] to the RJ-45 cable.

Connect the robot signals cable [3] from the Cobot Control Box to the interface box. 

Connect the 120 VAC Cobot Power Cable [4] to the external power source. 

Connect the robot power cable [5] from the control box to the Cobot.

Connect the teach pendant cable [6] from the control box to the teach pendant. 

NOTE: For more information regarding interlock fence, area scanner or light curtain installation, refer to the Robot Safety Device section below.

7

Make sure the Remote Jog Handle is installed onto the machine.

NOTE: For more information on the RJH-XL installation, refer to Remote Job Handle - Touch Large (RJH-XL) - Installation - AD0533. 

8

Steps 7 thru 10 are wiring and hose routing instructions for the pneumatic grippers. Refer to the grippers installation section lower on this page for the mechanical installation.

Install the dual air solenoid assembly on to the side of the pedestal while giving the airlines enough slack. Make sure it's in a position where it will not be in the way. Route the airline [1] under the machine back towards the CALM cabinet as shown.

9

Inside the CALM cabinet, remove a plug from one of the CALM manifold ports and install the check valve [1] (58-1863) onto the port's fitting. Route the input airline [2] from the dual air solenoid assembly (from previous step) into the CALM cabinet and connect the airline to the check valve.

Turn the machine air supply ON.

10

Make sure to power OFF the control box [1].

Connect the solenoid cable from the dual air solenoid assembly [2] into the Digital Output on the Cobot control box [1]. Remove the connector from Cobot control box.

11

Connect the gripper solenoid power cable (33-1276 / 33-1341) to the Digital Output terminal inside the control box. Install the different colored wires into their respective location:

  • Black/white cable into 0V
  • Black cable into DO0
  • Orange/white cable into 0V
  • Orange cable into DO1
  • Red/white cable into 0V
  • Red cable into DO2
  • Brown/white cable into 0V
  • Brown cable into DO3

Power ON the control box.

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

Power ON the Haas machine. 

Power ON the Cobot by flipping the power switch [1].

Power ON the Cobot teach pendant by pressing the circle [2]. 

Make sure that E-STOP [3] on the Cobot teach pendant is released. 

In order to change the language, click on the language drop down menu. Choose EN for English. To confirm this setting change, the Cobot teach pendant will have a popup asking to insert the username & password. 

Enter "admin" for both the username and password. 

2

Note: The Cobot teach pendant will have a popup asking to insert the username & password. To sign into the teach pendant use these credentials:

  • Username = admin
  • Password = admin

Go into Run mode. Press Enable. 

Go into Jog mode [1].

Move each joint to it's zero location with the Move Zero buttons [2]. 

3

Once the robot is in it's zero location, verify that the hash lines [1] align on either side of each joint on the Cobot. 

 IMPORTANT: If any joint hash lines [1] do not align, jog the specific joint accordingly until all the hash lines [1] do align. This position will be set in the next step as the new Cobot zero position.  

Connect an ethernet cable [2] from the Cobot control box into a computer.

On the computer, change the adapter setting to enable the ethernet port. 

Note: See next steps for help on changing adapter settings.

4

To change the adapter settings, open the settings page [1] on the computer, then click on Network & Internet [2] which will bring up the network status page.

Click on Change adapter options [3] then right click on Ethernet [4] and open up the properties window [5]. From there select the Internet Protocol Version 4 (TCP/IPv4) [6] option and click Ok. 

 

5

The ethernet settings will now be correct. Open a web browser window and type in the IP address of the Cobot[1]. 

Note: This is the same process as connecting a laptop to an HRP-1/2/3. For more information on connecting to the Cobot via ethernet, refer to the video on the HRP-Troubleshooting page that is in the Connect & Jog Haas Robot section. 

6

Download HRTool through HBC. On the Service section of HBC, navigate to Utilities > Documents and Software > 01 Control Software > 01 Next Generation Control > 10 Cobot Software > HRTool.zip.

Unzip the folder and navigate to HRToolsMaind.exe.

Insert the Cobot IP address found under the Systems tab.  Click Set. 

Go to the Config tab on HRTool.

Click "get" to see the actual vs. theoretical encoder values. 

Click "set" to set the theoretical to the actual encoder values. This step sets the Cobot's current position as it's new home position. 

7

Make sure that each joint's actual and theoretical encoder values match. 

NOTE: If the valuyes do not match, press "Set" again. 

8

On the teach pendant, navigate to System [1] and then Update System. 

Confirm the Cobot firmware [2] is either:

  • HR5.51H.16.beta.20231213.zip
  • HR6.4.9.tmp.20240919.zip

NOTE: Firmware version HR6.4.9.tmp.20240919.zip is compatible with all size cobots.

Refer to the Haas Cobot - Maintenance chapter for the firmware update procedure. 

9

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

 

10

On the Haas pendant, press [CURRENT COMMANDS].

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

  • Maximum Jogging Speed to 7.9 inch/sec

 Note: The jogging increments on the RJH are a percentage of this max speed value. In order to decrease the distance the robot travels of each jog wheel tick, you need to change your Maximum Jogging Speed to a lower value.

Go to the Setup tab. Change the following:

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

Security Risk Level

1

IMPORTANT: Make sure to perform an appropriate risk-assessment and met all appropriate safety requirements. 

2

Based off the risk assessment, set the appropriate security risk level on the Cobot teach pendant. Navigate to Config > General Restrictions and tap of the desired security risk level [1] from 0 - 5.

Use the  "admin" code in the safety verification to change the security level.

NOTE: When the security risk level is lower, the robot will have a lower maximum speed, force, etc. When the security risk level is higher, the robot will have a higher maximum speed, force, etc. 

This security risk level will calculate the maximum allowable force, speed, power, momentum, elbow speed and elbow force [2] that the Cobot will withstand before Alarm 9150.10017 Collison Stop Error is triggered. 

IMPORTANT: The robot's programmed speed cannot be greater than the allowable speed from the security risk level. 

NOTE: For more information regarding alarms, refer to the Haas Cobot - Troubleshooting Guide. 

Activation

1

Download and load the configuration files by logging into the HAAS SERVICE PORTAL.

Download the safety automation option front/side configuration files.

Load the option configuration patch file to the control. Refer to the NEXT GENERATION CONTROL - CONFIGURATION FILE - DOWNLOAD/LOAD procedure.

2

Go to Parameters > Features > Robot to verify that the robot feature has appeared on the bottom.

3

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, the robot feature will need to be unlocked. This popup shows the machine's current software version, robot mac address and a generated code. Enter this information into HBC in order to receive the unlock code.

4

On HBC, go to the Service tab [1].

On the left hand side of the screen, click on Activations [2], and then select Cobot Installation [3] to begin the process to the get the Cobot unlock code.

The first step is to enter the Machine Serial Number [4] and the Cobot Serial Number [5] in the fields on HBC.

Once you have entered the correct information, press Next [6] in the bottom right corner and continue through the steps until you receive the unlock code.

Note: Make sure you are on the Cobot Installation tab [3] and not the Robot Installation tab. The Robot Installation is only used for the Haas Robot Packages. Using the Robot Installation for the Haas Cobots will result in an invalid unlock code.

5

Enter the Cobot's Haas Serial Number[1] and the unlock code to connect the robot to the machine. 

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

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

When the robot has connected with the machine, a yellow message saying Robot Activation Successful should appear at the bottom of the Haas screen.

6

Release the [E-STOP] and press RESET to clear the alarms. 

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 [E-STOP] before working on the robot.

Gripper Installation

1

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.

2

For the Dual Action Gripper:

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

Jog the robot so that the location hole [1] is centered on top.

Install the adapter plate [2] onto the end of the robot arm.

Install the dual gripper assembly [3] onto the adapter plate [2].

NOTE: Make sure to install Gripper 1 (which has the orange and purple zip ties) onto the Gripper 1 adapter plate section. 

3

For the Angled Single Action Gripper:

Jog the robot so that the location hole [1] should be centered on top.

Install the angle adapter plate [2] to the end of the robot arm.

Install the single gripper assembly [3] onto the angle adapter plate [2]. 

4

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

Install the Bar Gripper Bolt Plates [3] with (x8) SHCS M6 screws [4]. Torque to 10 ft-lbs.

Install the Bar Gripper Fingers [2] with (x8) SHCS 1/4-20 [1]. Torque to 13 ft-lbs.

5

Configure the dual air solenoid assembly used for pneumatic grippers depending on single [1] or dual [2] gripper configuration. 

For single grippers [1], connect the incoming air to the to the fitting [2] and keep the plug in the other end of the fitting [3] as shown in the image.

For dual grippers [4], remove the plug in the fitting [3] and attach a small air hose to the second solenoid [5]. Then connect the incoming air hose to the fitting [2] so that both solenoids are receiving air.

6

For the Single Gripper:

Route the (x2) air lines from the gripper to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the Cobot. Make sure there is enough slack so that cables aren't strained when Cobot is fully extended.

Insert the input air hose to the used solenoid's fitting [1]. 

Make sure the plug is installed onto the unused solenoid's fitting [2]. 

7

For the Dual Gripper:

Route the (x2) air lines from gripper #1 to the same color coded fitting on the dual air solenoid assembly. 

Route the (x2) air lines from gripper #2 to the same color coded fitting on the dual air solenoid assembly. 

Secure the air lines by wrapping them in cable conduit. Use the velcro straps to attach the cable conduit to the Cobot. Make sure there is enough slack so that cables aren't strained when Cobot is fully extended.

Insert the short airline [1] connecting the first solenoid with the second. 

Insert the input air hose to the fitting [2]. 

Parts Table Assembly

If the parts table option was ordered, follow the procedure below for assembly instructions:

Haas Robot - Parts Table Assembly

NOTE: If HC10 MACHINE READY KIT was purchased, there is no need to install the wheels if mounting the parts table directly into the wooden pallet. 

Verification

Test the E-stop:

  • Press each E-STOP button located on the Haas Pendant, RJH-XL, and Cobot Teach Pendant. 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, triggering the robot safety device stops all motion. This motion can not be started until the robot safety device is no longer triggered.
  • 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 - Hızlı Başlangıç Kılavuzu

Robotu kurduktan sonra, aşağıdaki prosedürü izleyerek bir iş ayarlayın.

Haas Robot - Hızlı Başlangıç Kılavuzu

Robotu Devre Dışı Bırakma

Makineyi bağımsız modda çalıştırmak amacıyla robotu devre dışı bırakmak için.

SETTING düğmesine basın. Aşağıdaki Ayarları değiştirin:

  • 372 - Parça Yükleyici Türü , 0 olarak: YOK
  • 376 Işık Perdesi Etkin, Kapalı olarak ayarlandı