Robot Protective Stop:

To recover

  • Go to robot teach pendant
    • Select enable robot
  • Go to VSC user interface (VersaBuilt interface on Tablet or Laptop)
    • Enable
    • Move Home
    • Select nearest starting point (click here for help with this step)
    • Select “Move Home”
    • Robot should automatically move to the home position

If robot is stuck, select “free-drive” to move the robot by hand

CNC Program Commands for Robot Hand-Shake:

  • VersaBuilt automation requires a hand-shake signal from the CNC. This signal is set by the 9004 program that was installed on the CNC.
  • All CNC programs must end with a call to the 9004 program
  • Insert an M98 P9004 just before the M30
  • The M98 9004 line is safe to use, even when the CNC program is not being executed by the system
  • Tip: place the call to the M98 P9004 in your CAM post processor

M98 P9004

M30

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Robot Not Home

The robot is not in a known home position.  Press the home button under the recovery button to move the robot home. For a list of robot positions, click here.

On the Home screen of the VSC:

  • Verify Robot is Enabled *if not check teach pendant for errors and recover robot to be ON
  • Press “Enable”
  • Press “Home”
  • For advanced options, select the window expand icon in the upper right of the Recovery screen
    • Select Nearest Starting Home, then select Destination Home for robot
  • To restart operation, select CNC Home Position

Vise Sensors:

MultiGrip Vise Sensors are intended to be calibrated with the Calibration Plate, simulating MultiGrip OD Jaws with a 0.125” left to right jaw gap.  An M8 Proximity sensor is threaded into the vise, detecting a “flag” inside the vise, stroking with the piston.

The intended logic of the vise sensors is to detect vise misloads by the robot, by alerting with the absence of a signal when the vise is open or closed.

If your system is detecting an error when parts are properly loaded, or if your system is not detecting errors when parts are not properly loaded, there could be multiple issues:

  • Proximity sensor may need to be adjusted or reinstalled (Refer to the Installation Guide for instructions for Vise installation instructions)
  • MultiGrip Jaw gap may be outside the working range of the vise sensors (0.125” ±0.03”
  • Sensor cable may need to be tested if they are connected properly
  • Sensor cable may need to be replaced
  • Proximity sensor may need to be replaced

An alternative to using vise sensors is to “Ignore vise sensors” and use a spindle probe to detect part or jaw presence in each CNC program.  This is a robust solution that can give more information per program than the simple logic of the vise sensors.

When installed with the Calibration Plate:

  • Vise closed, clamping Calibration Plate
  • Thread Proximity Sensor to stop
  • Tighten Nut with 13mm deep socket wrench
  • Loosen Nut
  • Loosen Proximity Sensor ¼ turn
  • Connect Vise Sensor cable to VSC
  • Open/Close vise to test 
    • Sensor on when clamping Calibration Plate
    • Sensor off when opening
  • Remove Calibration Plate and test
    • Sensor off when Vise Open
    • Sensor off when Vise Closed
    • Sensor on when passing through middle of stroke

Editing System Settings

If you’d like to edit the default values, go to the VSC screen:

  • Go to Settings page
  • Click “Edit System Settings”
  • Edit values or check boxes
  • Save
  • Go to About page
  • Restart VSC

Note: changes to values need to correspond to new entries or changes on the CNC side

Top Jaws are too tight or too loose on Base Jaws:

Top Jaws are secured to the MultiGrip Base Jaws with the mating dovetail interface and ball plungers that engage with the detent in the inside surface of the Top Jaws.

If the ball plungers are too loose, the jaws may fall off or get shifted out of position. This can cause failures picking parts with MultiGrip Jaws.

If ball plungers are too tight, the swivel or rotating side (the jaw with single dovetail) will not rotate to conform with material.  This can cause failures picking parts with MultiGrip Jaws.

To set the ball plungers in the proper/nominal location, place a set of Top Jaws on the Base Jaws.  With a flathead screwdriver, tighten the ball plungers all the way down tight, then back of a ¼ turn.  Check that the fit for desired tightness, adjust ball plunger position as needed.

Robot2CNC Fanuc – G-code not registered (CNC error):

If your CNC does not have “look-ahead” capability, remove or comment-out the command for turning on look-ahead in program 9004

Replacing MultiGrip Jaw Cross-pins:

Cross-pins are held in place with external retaining rings (McMaster-Carr #97431A300).  Remove the rings with a small flathead screwdriver.

Replace one cross-ping at a time. First, secure the cross-pin on the fixed jaw, pushing 2x external retaining rings into place (per cross-pin on the fixed side).  Use a Removal Tool for Push-in Rivets (McMaster-Carr #97576A500) to compress the spring when adding the retaining ring on the spring side. *use a flathead screwdriver to save your fingers, when pushing in the rings.

What tablet, iPad or other should I use for my automation system user interface (GUI)?

Robot2CNC Status: ERROR, Unable to Connect

  • The UR robot cannot communicate with the Robot2CNC over the Ethernet network. Check the following:

    • Ethernet cable is connected between the VSC or Robot2CNC and the robot controller
    • The link status LED is on for each port of the 5-port Hub with an ethernet cable plugged in
    • The IP Address of the robot is set correctly
    • Connect to the Robot2CNC using a portable computer or smart phone and verify Robot2CNC network settings 
      • Connect to system WiFi, title VBRxxxxx, where xxxxx is the serial number
      • Password is: versabuilt
      • Open a web browser and enter the address: 192.168.4.1:9001
    • Alternatively, plug a computer into the Robot2CNC 5-port Hub. Configure the computer’s Ethernet adapter for the IP address 192.168.2.4, open a web browser and enter the address: 192.168.2.1:9001

CNC Status: ERROR, Unable to Connect

The Robot2CNC computer cannot communicate with the CNC over the Ethernet network. Check the following:

  • Make sure the Robot2CNC Status: Up; CNC Status is not valid until Robot2CNC Status: Up
  • The link status LED is on for each port of the 5-port Hub with an ethernet cable plugged in
  • The IP Address of the CNC is set properly
  • Connect to the Robot2CNC using a portable computer or smartphone and verify Robot2CNC network settings:
  • The Robot2CNC includes an advanced interface that allows advanced settings to be configured and allows the Robot2CNC to connect to the Internet for remote support or to download software updates. To connect to the Robot2CNC Web Configuration Interface do the following:
  • Using a laptop computer or a smartphone with wi-fi, goto wifi settings and connect to a network titled vbrXXXXX (where XXXXX is the serial number of the Robot2CNC). The wifi password is: versabuilt . Open a web browser and enter the address: 192.168.4.1:9001
  • Alternatively, plug a computer into the Robot2CNC 5-port Hub. Configure the computer’s Ethernet adapter for the IP address 192.168.2.4, open a web browser and enter the address: 192.168.2.1:9001

CNC Status: Refused

Haas Controls:

  • The Robot2CNC is able to communicate with the CNC but setting 143 is not properly configured
  • Make sure setting 143 Machine Data Collection is set to 9000

Fanuc Focus Controls:

  • The Robot2CNC is able to communicate with the CNC but Focas2 application is either not configured or the Focas2 TCP port is not set to 8193
  • Make sure the Focas2 TCP port is set to 8193

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:

  • CNC Door is closed
  • CNC is in memory mode, program 9000 is selected and CNC is not alarmed
  • Press the CNC reset button

CNC Status: CNC Cycle Start Test Failed

Likely causes to the failure:

  • The CNC is not in memory mode; verify CNC is in memory mode, retry Cycle Start Test
  • 9000 program is not selected; select 9000 program then retry Cycle Start Test
  • CNC door is not closed; make sure the CNC door is closed then retry Cycle Start Test
  • Cycle Start Wiring problem
    • To confirm wiring problem, press the Cycle Start Test button on the R2C Config URCap page of the teach pendant, then press the Cycle Start button on the CNC within 15 seconds; if the test passes, the wiring problem is confirmed
    • Confirm the Cycle Start Relay wires are secure
    • Put an ohmmeter across the the Cycle Start relay contacts on the Robot2CNC, the contacts should be open
    • While monitoring the Cycle Start Relay contacts with the ohmmeter, have a partner set the press the Cycle Start Test button, the ohmmeter should show a momentary closing of the contacts; if it does not, contact VersaBuilt for warranty exchange of the Robot2CNC

Compile Error When Running Program with Robot2CNC URCap

  • The R2CScript.script file has not been added to the Before Start sequence of the UR Polyscope program
  • See manual for instructions on how to add the R2CScript.script file to your program
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