VersaBuilt 5003870 User manual

VersaBuilt Robotics with Universal Robots
Haas Legacy CNC Communication Kit
Product No. 5003870

Overview
The purpose of this document is to detail the
installation steps and usage of the Haas Legacy
Communication Kit
The Haas Legacy Communication Kit allows Universal
Robots to:
•Select CNC programs on Haas CNC Controllers
•Cycle Start the CNC
•Receive results back from the CNC to indicate
successful CNC program completion
Functionality of the Haas Communication URCap is
completed by:
•Sending TCP/IP packets between the UR Control
Box and CNC controller through an Ethernet
cable and/or a Serial to Ethernet converter (sold
separately)
•The CNC is started through a 24VDC signal from
the UR Control Box to energize the CNC cycle
start button, by way of a Cycle Start Relay
•Signaling the completion of CNC programs from
the CNC to the UR Control Box is completed with
software running on the CNC
•In order for the signal to occur, each CNC
program must end with the following command:
M98 P9004
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In The Box
•USB Flash Drive with:
•Software for UR Teach Pendant
•Software for Haas Controller
•Cycle Start Relay Kit (5003877)
•Ethernet Cable for communication between
UR controller and CNC
•Serial-Ethernet Converter (and Power
Supply)
•Serial Cable
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Steps
Operate - Send programs from the UR Control Box to the CNC
- Receive job complete signals from the CNC to the UR
Control Box
Install - Software on Haas CNC Controller and configure settings
- Software on UR Teach Pendant
- Enter license key on Installation tab
Connect - Ethernet Cable from UR Control Box to Haas CNC Controller
- Cycle Start Relay from UR Control Box to Haas CNC Controller
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Connect
Ethernet Cable and Cycle Start Relay
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Installation of Communication Cables
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•Connect an Ethernet cable from the UR Control Box to the Serial-to-
Ethernet Converter
•Haas Legacy Controllers require a Serial to Ethernet converter as Machine
Data Collect only communicates over Serial

Cycle Start Relay Installation
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Connector to Digital
Output panel inside
UR Control Box
24VDC Relay with 2-wire
connection to Haas CNC
Cycle Start Button
10-meter, 2-wire cable

Cycle Start Relay
Connecting to Haas CNC Controller
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1. Tools Needed:
•Phillips head screwdriver
•Flathead screwdriver
•M4 Allen wrench
•Zip ties
2. Make sure CNC is powered off
3. Rotate Haas Control Panel to show
back of panel
4. Remove the back cover panel on
the Haas Control Panel by
unscrewing the 4 fasteners with a
Phillips head screwdriver or M4
Allen wrench
Connect Cycle Start Relay to
Haas CNC Controller
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Connect Cycle Start Relay to
Haas CNC Controller
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5. Locate the Cycle Start Button
6. Remove backing with flathead screwdriver
7. Connect the fork terminals from Relay to Button. Polarity does not matter.
Either wire can go to either terminal.
Connect the VersaBuilt Robotics Cycle
Start relay with black cable to 3 and red
cable to 4 (note: polarity does not matter)

Connect Cycle Start Relay to
Haas CNC Controller
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8. Route the cable through any cable routing hole on the Haas
Control Panel.
9. Route the cable over the CNC through a protected wire-way
and to the UR Control Box.
10. Put back sheet metal cover panel and fasten the 4 screws
with a Phillips screwdriver or M4 Allen wrench
*note: some hardware may vary depending on CNC model and year

Connecting Inside UR Control Box
Replace with provided
connector attached to cable
for Cycle Start Relay
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11. Replace the D04-D07 empty Digital Output block with the one
pre-wired from VersaBuilt Robotics or alternatively remove the
wires from the supplied block and install into the UR Digital
Output Block. Any Digital Output or Configurable Output can be
used.
12. Make a note of which Digital Output is tied to the Cycle Start Relay
as it will be used inside the URCap.

Electrical Diagram
Connecting to UR Control Box
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Install
Software on UR Teach Pendant
and Haas Controller

Install CNC Programs to the Haas CNC Controller
•Load the following programs:
•9000 –VersaBuilt Robotics Dispatcher –Facilitates communication
between the CNC and the robot
•9004 –Sub program used after successful completion of all programs
run by the robot
These two VersaBuilt Robotics CNC programs enable the Universal Robot to
communicate with the CNC.
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Serial-to-Ethernet Converter
•Come preconfigured from VersaBuilt Robotics
•Changing from default configuration is easy from any PC or Laptop that
you can connect directly to the Serial-to-Ethernet Converter
•IP Address of Converter should match what is entered in Haas Legacy CNC
Setup for IP Address, Port is 23 by default but can be changed but must be
changed in both places
•Serial Settings for Legacy Haas Control (on following page)
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Appendix E (cont)
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•Setting/Graphic >> I/O>> RS-232 Ports
•Baud Rate Select - 115200
•Parity Select - NONE
•Stop Bit - 1
•Synchronization - XON/XOFF
•RS-232 Data Bits - 8
•Leader to Punch - NONE
•EOB Pattern - CR LF
•Add Spaces RS232 Out - ON
•AUX Axis Sync - XON/XOFF
•AUX Axis Baud Rate - 4800
•DPRNT Leading Space - OFF
•DPRNT Open/Clos DCODE - ON
•Machine Data Collect - ON
•Machine Data Echo - OFF
•Load Pocket Tables - OFF
•Save Offset with Prog - OFF
•Offset Format Type - A

Install UR Software –URCap
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All of the following Install instructions require the UR Teach Pendant be
in manual mode.

Install UR Software –URCap
Universal Robots OS Requirements
•E Series requires 5.2.0.61336 or newer
•CB Series requires 3.8.0.61336 or newer
Note: The following instructions are specific to the E Series, the steps
should be the same for the CB Series, but the buttons might be in
different places.
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Install UR Software –URCap
1. Insert the supplied VersaBuilt
Robotics USB flash drive into the UR
Teach Pendant
2. Choose Settings from the menu in the
upper right corner then navigate to
System > URCaps > + to add a new URCap
3. Browse to the USB flash drive, choose
the appropriate folder Legacy Files and
select VersaBuiltHaasLegacyDriver-1.4.urcap (note:
version number may be higher)
4. Restart the UR Teach Pendant
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