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Etienne_SamsonEtienne_Samson Posts: 387 Handy
We have a customer looking to interface his UR with a Haas and a Doosan CNC.

Has anybody ever done that? Any advice?
Etienne Samson
Technical Support Director
+01 418-380-2788 ext. 207
esamson@robotiq.com

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  • Samuel_BouchardSamuel_Bouchard Posts: 142 Handy
    @Enric can you share your experience?

    CEO & Co-Founder @ Robotiq

    samuel@robotiq.com
  • EnricEnric Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Beta Tester Multi Gripper, Beta Tester Camera URCap 1.2.0-beta Posts: 84 Handy
    Hi
     
    Our client has connected 3 machines to the controller of the UR10
     
    The connection has been through digital inputs and digital outputs.
    From UR10 to CNC
    . Cycle Start
    From CNC to UR1p
    . Running(Cycle)
    . Alarm
     
    Two solenoides (digital outputs UR10) actived cylinder to open and close the door of the CNC.



    Enric Vila Avila
    Vicosystems S.L.L.
    Industrial Collaborative Systems

    evila@vicosystems.com

    twitter  linkedIn  YouTube  Google
  • Etienne_SamsonEtienne_Samson Posts: 387 Handy
    Thanks @Enric , that sounds so simple! Did you had any challenges when it came to interfacing the I/O's ? I guess the UR program send the Cycle_start and wait for Running(cycle) to be off ?
    Etienne Samson
    Technical Support Director
    +01 418-380-2788 ext. 207
    esamson@robotiq.com
  • EnricEnric Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Beta Tester Multi Gripper, Beta Tester Camera URCap 1.2.0-beta Posts: 84 Handy
    Hi @Etienne_Samson

    The procedure is this:
    1.Close door
    2.DO Cycle Start ON
    3.Wait DI Runnig ON
    4.DO Cycle Start OFF
    5.Wait DI Running OFF 
    6.Open door

    I forget to mention the process to open/close "jaw"  inside CNC
    Another signals are:
    To CNC exist signal "jaw" closed (with part) and "jaw" open (without part). And this "jaw" open and close with only one signal.

    CNC to UR Digital input ("jaw open")
    CNC to UR Digital input ("jaw closed")
    UR to CNC Digital output ("Activate jaw")

    Subprogram OpenJaw

    If not DI (jaw open)
      DO (Activated jaw) ON
      Wait DI (jaw open)
      DO (Activated jaw) OFF
    Endif

    Subprogram CloseJaw

    If not DI (jaw closed)
      DO (Activated jaw) ON
      Wait DI (jaw closed)
      DO (Activated jaw) OFF
    Endif

    You need a program example?
    Enric Vila Avila
    Vicosystems S.L.L.
    Industrial Collaborative Systems

    evila@vicosystems.com

    twitter  linkedIn  YouTube  Google
  • Alexandre_PareAlexandre_Pare Posts: 56 Crew
    Here is another video showing a UR with a HAAS CNC. 

    @Kevin_Matthews can you tell us more about this?


    Alexandre Pare, Eng.
    Application Engineer
    Robotiq
    alexandre.pare@robotiq.com
  • Kevin_MatthewsKevin_Matthews Partner Posts: 2 Recruit
    For this application, the goal was to make a semi-permanent connection for a demo show. Ideally,  a serial connection would have been the best communication but I was able to use Digital and Analog IO to accomplish just about everything I needed.

    For the outputs TO THE CNC:

    Chuck: There was  a foot-pedal connection that would work at anytime, regardless of machine in/out of cycle, door open/closed. So I ran a Digital output through a 24V relay mounted in the UR controller housing to the connector in the main control panel of the HAAS. (If I recall, it was connection M19, though not sure).

    Cycle start: Again to remain semi-permanent and not loose any usual CNC control, I again wired a digital output through a  24V relay and tied in directly with the HAAS cycle start button. This allowed for the button to be used as normal, or the robot could "emulate" a button press to start cycle.

    For the inputs TO THE ROBOT:

    I asked the CNC programmed to give me some "cycle done" signal but they weren't sure exactly how to do that, so I got creative and tapped into the stack light. When a machining cycle is done on the HAAS, the stack light goes from solid green to flashing green. This however, is on a 5V circuit. To read this voltage I picked off inline with the stack light green power and Common and ran into an Analog input into the UR. Do to my lengthy wire and my direct pick-off, I had created a voltage divider, so at maximum I received around 2.8~2.9 Volts at my input so the logic in my program would wait for that signal to pass my high threshold, then wait for it to go low again. This way I knew the light had gone from High to Low, telling the robot the "cycle was done".

    The door was a bit of a challenge to open with the UR5, it took a little finesse to tune the speed and acceleration such that the door wouldn't "bounce" (as slightly seen in the video) and fault the robot for over torque. The trick was to leave the gripper about 1mm more open then the handle diameter to allow a little movement but not too much. Another trick was to turn the acceleration down but the speed up. This reduced the 'jerk' but still had the momentum to force the spring-roller type assisted door to move at the UR's pace.

    Total signals:
    Chuck toggle - Digital output to 24V relay
    Cycle Start - Digital output to 24V relay
    Cycle done - Analog input 'watching' the stack light

    Since the HAAS was not outputting any additional signals, the robot was the master as though it was a human operating the machine. 
    Controls/Applications Engineer
    Axis New York
    http://axisnewyork.com/
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