I'm looking to do machine tending with my robot, so the robot takes care of switching out the parts in and out of the machine. I'm wondering if I should use timers to know when the robot can switch the part, or if I should use the CNC and robot's I/Os to do that instead?

Hi,

I wouldn't recommend to use timers because this can cause some problems if the program stops for whatever reasons.
If your CNC has the I/Os, I would use them.

Ok, thanks. It makes sense.
I'll reach out to my CNC provider to know which one to use.

Thanks!

Alright, let me know how it goes!

We just finished installing a worker onto a Haas VF-4 circa 2007 and we are using the M21 and M22 relays that are built directly into the mill for this.  We actually are moving the table around while we are loading and unloading to reposition so we can reach different parts of the table and to blow out the collets between operations so that chips do not cause issues with tolerances.  In the end it wound up being much easier than we initially thought even though I wish there were more built-in inputs in the Haas as we use the same input to clear all of the output relays.  If you have any questions let me know and would be glad to help

@Alexandre_Pare I think you had a customer in the UK looking to integrate a robot with a Haas, right? Might be a good place to ask questions if it's the case!