VersaBuilt Robot2CNC Owner's manual

Wait for CNC Program
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Robot2CNC communicates with the Haas CNC using
the Haas Machine Data Collection protocol. Machine
Data Collection protocol allows the Robot2CNC to read
and write macro variables on the CNC. Values in the
macro variables are used to communicate information
and commands between the Robot and the CNC
machine. When used with the provided VersaBuilt CNC
programs, the Robot2CNC allows the robot to select
and run any program stored on the CNC and be notified
when the program completes.
Run CNC Program
(CNC Program Number)
In the Robot2CNC Basic edition, the following
commands are available:
Set CNC Macro Variable
Get CNC Macro Variable
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Robot2CNC Computer
VersaBuilt USB drive
1 - Ethernet Crossover cable
1 - USB-to-Serial converter
1 - 9pin to 25pin serial cable
Cycle Start Wiring

Tools Needed Phillips Head Screwdriver M4 Allen Wrench Flat Head Screwdriver
Make sure CNC is powered off at main breaker
Rotate Hass Control Panel to show back of panel
Remove the back cover panel on the Hass Control Panel by unscrewing the 4 fastener
with a screwdriver or Allen Wrench
Locate the Cycle Start Button in the lower right hand corner of the panel
Connect the two wires from the cycle start wire kit to the terminal on the button.
Polarity does not matter. Either wire can go to either terminal.
Route the cycle start wirest cable through the cable pass through hole on the Hass Control Panel
Route the cable to the Robot2CNC
Put back sheet metal cover panel and fasten the 4 screws with a screwdriver or Allen Wrench
4 Fastener Cycle Start Button Cycle Start Wires Connection Routing Cycle Start Wires
*note: some hardware may vary depending on CNC model and Year

Turn-off power at the breaker to the CNC
Open CNC cabinet door
Place Robot2CNC on the bottom shelf of the CNC
cabinet away from exposed electrical wires
Connect Robot2CNC power supply to Robot2CNC

Route wires down to the Robot2CNC
Locate relay 1 on the Robot2CNC
Using the screwdriver, loosen the terminal marked NO and connect the red wire and tighten it down
Repeat the process for the black wire in the terminal marked COM
Tools Needed 1/16” Flathead Screwdriver
Locate relay 1 Terminal marked NO Terminal marked COM

Insert USB-to-Serial into one of the available USB ports
on the Robot2CNC computer
Connect 9pin serial cable connector to USB-to-Serial
adapter
Connect 25pin serial cable connector to Haas CNC
Route 9pin connector of serial cable into CNC cabinet

Lay the UR controller on it’s back, remove a round access hole plug from the bottom of the controller
Plug the Ethernet cable into the Ethernet port of the UR controller
Route the other end of the Ethernet cable into the CNC cabinet
Route one end of the Ethernet cable through the access hole and into the UR Controller
Plug the Ethernet cable into the Robot2CNC Ethernet port

Change the following CNC settings:
11 Baud Rate: 115,200
12 Parity Select: NONE
13 Stop Bit: 1
14 Synchronization: XON/XOFF
37 RS-232 Data Bits 8
41 Add Spaces RS232 ON
69 DPRNT Leading Sp OFF
143 Machine Data Col ON
CNC settings Screen

Insert VersaBuilt USB drive into Haas USB port
Copy the 9000.NC and the 9004.NC programs onto the Haas CNC control
Navigate to the Haas Legacy directory on the VersaBuilt USB drive
Gcode File on CNC Screen

Click on the 3 horizontal bars in the upper right-hand corner of the UR teach pendant and select Settings
Select Static Address
On the Settings page, select System Network
Enter the network detailed settings as shown

Insert the VersaBuilt USB drive into the UR Teach Pendant
On the Settings page, select System URCaps
Click on the 3 horizontal bars in the upper right-hand corner of the UR Teach Pendant and select Settings
Press the + button in the lower left of the Settings page to add a URCap
Navigate to the usbdisk and select the robot2cnc-.2.0.urcap file *note: file name may be different on USB drive
Press the Restart button in the lower right corner of the Settings page

Insert the VersaBuilt USB drive into the UR Teach Pendant
Click on the Copy USB Files Button
Click on the Installation Icon near the top left of the UR Teach Pendant then select URCaps R2C Config
Click on the Update Status Button
Confirm Robot2CNC Status: UP
Confirm CNC Status: IDLE
On the CNC, select program 9000, place CNC in memory mode and close CNC door
Press Cycle Start Test Button
Confirm CNC Status: CNC Cycle Start Test Passed Note: if any test fails, see Appendix A Troubleshooting

The included 9004 gcode program sends a handshake signal to the Robot2CNC
The M98 P9004 is compatible with Robot2CNC or manual execution
Right before the M30 at the bottom of each CNC program add a line: M98 P9004
Tip: add the M98 P9004 to your CAM post processor so it is included at the end of all programs
Example:
...
M98 P9004
M30
Before using Robot2CNC each CNC program to be run by Robot2CNC must be modified:

From the Program page, click on the Robot Program
Click on the line marked <empty> below the BeforeStart
Click on the Add Before Start Sequence checkbox
Click Advance Script
In the upper right, select File
Click on the Edit Button
Click the Open Button then navigate to the VersaBuilt folder and select R2CScript.script and press the Open Button
Click the Exit Button
Before using Robot2CNC in a UR Polyscope program, the R2CScript.script file must be added to the Before Start Sequence:

Click on the program tree where the Robot2CNC command is required
Click Select Function
Select URCaps Robot2CNC
Select the required function from the list
Robot2CNC commands can be added into the Polycope programming tree via the Robot2CNC program node accessible in the
URCaps section. To add a Robot2CNC command to a program do the following:

Run CNC Program
Runs the CNC program number entered in the CNC Program
Number field. CNC program number must be in the CNC memory
and the CNC must be in memory mode with the CNC door closed.
CNC program completion can be detected with the Wait for CNC
Program command.
Optional: Enable Haas Cell Safe Signal
When Enable Haas Cell Safe Signal is checked and the Haas Cell
Safe Signal settings have been configured on the Haas CNC, the
Robot2CNC will set the Haas Cell Safe signal allowing some CNC
programs to function with the CNC door open. See Appendix C:
Enabling Haas Legacy Cell Safe
Wait for CNC Program
Waits for the currently executing CNC program to complete. If the
CNC program completes successfully, Polyscope program
execution continues. If an error occurs in the CNC program, a
popup message is displayed with information about the error and
allowing the operator to stop or continue processing.
Set CNC Macro
Sets the CNC Macro Number entered to the Value entered. The
CNC Macro Number parameter must be a valid macro variable
number on the Haas CNC control.
Get CNC Macro
Gets the CNC Macro variable specified by the CNC Macro Number
parameter and stores it in the Polyscope variable entered in the
Assign to Variable parameter. The Assign to Variable must be a
valid Polyscope variable, typically created with a Polyscope
Assignment program node

Robot2CNC Status: Error, Unable to Connect to Robot2CNC
The UR robot cannot communicate with the Robot2CNC over the Ethernet
network. Check the following:
●Red Ethernet cable is connected between the UR robot and the Robot2CNC
●The Robot2CNC Ethernet port LED is yellow or flashing yellow
●The IP Address of the robot is set to according to the Step 8 in this manual
●Connect to the Robot2CNC using a portable computer or smart phone and
verify Robot2CNC network settings (see Appendix B)
CNC Status: CNC State must be IDLE for Cycle Start Test
The CNC is not in a state that allows it to be cycle started. Check the following
and try again:
●Make sure the CNC settings are set according to Step 6
●Make sure the CNC has the User-Definable Macros option enabled
●CNC Door is closed
●CNC is in memory mode, program 9000 is selected and CNC is not alarmed
●Press the reset button