Each time you add new Tool Center Points (TCPs) or Payloads in Forge/OS, you must update the tools file on the Yaskawa controller.
Switch the Yaskawa pendant key to TEACH.
In the Main Menu, select SYSTEM INFO, then select SECURITY.
Tap the field next to MODE and choose SAFETY MODE. Enter the Safety mode password.
For non-collaborative robots, the default Safety mode password is "5555 5555 5555 5555" (without spaces).
For collaborative robots, refer to the 16-digit password in the Collaborative Robot Password Agreement.
In the Main Menu, select EX. MEMORY, then select LOAD.
Select FILE/GENERAL DATA.
Highlight TOOL DATA and press SELECT. Then press ENTER.
At the Load? prompt, select YES.
In the Yaskawa pendant Main Menu, select SYSTEM INFO, then select CPU RESET. Select the START MODE dropdown, then choose MAINTENANCE MODE. Press RESET or the ENTER button and confirm to restart. Wait for the system to restart.
If the CPU RESET option isn't available to you:
- Power off the robot controller.
- While pressing the MAIN MENU button, power the controller back on.
- Hold down the MAIN MENU button for 5 seconds (or until you hear a beep).
