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Etienne_Samson
Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
UR with Haas and Doosan Machine Tools |
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in Integration
We have a customer looking to interface his UR with a Haas and a Doosan CNC.
Has anybody ever done that? Any advice?
Has anybody ever done that? Any advice?
Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]
[email protected]
[email protected]otiq.com
. Alarm
Vicosystems S.L.L.
Industrial Collaborative Systems
[email protected]
[email protected]
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?
Vicosystems S.L.L.
Industrial Collaborative Systems
[email protected]
@Kevin_Matthews can you tell us more about this?
Application Engineer
Robotiq
[email protected]
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.
Axis New York
http://axisnewyork.com/
It appears that the machinery you showed above is a Gooway and a Haas. How did you tie your inputs/outputs to the Doosan CNC? Did you use the spare m-code relay contacts or the robot interface card? Or are you aware of another option?
One issue I ran into was, the door interlock and the chuck open an close commands are tied together. I had to disable my door interlock to allow the M-codes to work properly. I resolved the issue by having Doosan change the latter software in the machine.
Here is an example of the cnc code at the end of the program.
G28U0W0;
M05P11; (Stop spindle)
M91; (Trigger the arm)
M10; (Open chuck)
M91; (Trigger the arm)
M11; (Close chuck)
M30; (End of program)