Tool Loading Procedure - YASKAWA YRC1000micro Startup Manual

VERSION 1.0.0

TOOL LOADING PROCEDURE

You must update the tool files on the Yaskawa Motoman controller each time new Tool Center Points
(TCPs) or Payloads are added. Follow these instructions to add new TCPs/Payloads in Forge/OS and
update the Tool configuration on the Yaskawa Motoman controller.
These are the basic steps to adding new tools to your Yaskawa robot in Forge/OS and on the
Yaskawa controller:
▪ Add TCPs/Payloads to the robot's configuration in Forge/OS and save.
▪ Forge creates a TOOL.CND file and saves it to USB on the Yaskawa Motoman controller.
▪ Load the tool file onto the controller while in the Safety mode.
▪ Reset the safety systems on the Yaskawa controller in Maintenance-Safety mode.
Make sure there is a USB flash drive in the Yaskawa Motoman pendant.
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In Forge/OS, go to the Device Configuration app and find the Yaskawa robot under
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Configured Devices. Select the device and tap Edit to open the robot configuration.
Tap TCP AND PAYLOAD CONFIGURATION.
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