Appendix B: Tool Loading Steps - YASKAWA YRC1000 Startup Manual

VERSION 5.3.0

APPENDIX B: TOOL LOADING STEPS

You must update the tool files on the Yaskawa controller each time you add new Tool Center Points (TCPs)
or Payloads. Follow these steps to add new TCPs/Payloads in Forge/OS and update the Tool configuration
on the Yaskawa controller.
Here is an outline of the tool loading process:
▪ Add TCPs/Payloads to the robot's configuration in Forge/OS and save.
▪ Forge creates a TOOL.CND file and saves it to the USB drive on the robot controller.
▪ Load the tool file onto the robot controller while in Safety mode.
▪ Reset the safety systems on the robot controller in Maintenance-Safety mode.
Make sure there is a USB flash drive in the Yaskawa pendant.
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In Forge/OS, go to the Device Configuration app and find the Yaskawa robot under Configured Devices. Select
2
the device and tap Edit to open the robot configuration.
Tap TCP AND PAYLOAD CONFIGURATION.
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Add all the TCPs and Payloads you need for your workcell and tap SAVE.
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