I’m working with a Yaskawa YRC1000 with a CClink card installed (and safety function board, robot is a GP35L). I would like the robot to automatically switch tool files when a specific IO signal is input (rather than using a program command to change tool files). The PLC will give the Robot it’s current tool based off the signal received from the tool changer attached to the robot. I thought I should be able to do it in the user ladder but cant find a ladder logic command to set the tool file. Is this possible to do? I’ve used commands in a program (on FANUC machines) to change tool data but its my first time using a tool changer on Yaskawa. The logic in my mind should look like "If coil XX on, load tool file 1"
The tools all have the same flange to center point dimensions so its mainly the weight I am worried about, and some of the safety logic interference zones. If the robot knows via hardwire what tool its working with it should be harder for the customer to make a mistake.
Thanks in advance