Use with Robot Tool Changer

The SD/SDV-Series tool can be used together with a robot tool changer.

However, special considerations must be taken into account during integration.

TCP and COG Considerations

When using a tool changer, the mechanical interface between the robot and the tool is modified.

This affects:

  • Tool Center Point (TCP)

  • Payload

  • Center of Gravity (COG)

Note

The TCP, payload, and COG must be recalculated and updated in the robot controller after installing a tool changer.

Electrical and Safety Considerations

Some tool changers include electrical feed-through connections that disconnect during tool change.

If all tool connections are routed through the tool changer:

  • Power to the tool is interrupted

  • Communication is interrupted

  • The safety circuit is interrupted

Notice

Common wiring errors when using tool changers with electrical feed-through include:

  • Reversed polarity on power supply (24 V / 0 V or 48 V)

  • Missing or poor ground connection (GND)

  • Loose or intermittent connections

  • Incorrect pin mapping between robot, tool changer, and Spin Bridge

  • Damaged or improperly shielded cables

  • Short circuits between signal lines

Wiring errors can damage the connected equipment. Always verify wiring against the official pinout diagrams before applying power.

Safety Implications

The SD/SDV-Series safety system relies on a continuous safety circuit between the tool and the robot/Spin Bridge.

If this connection is broken:

  • The safety sensor cannot trigger a stop

  • The tool safety functionality will not function

Warning

If the safety circuit is broken, the safety sensor cannot stop the robot, and the integrator must implement alternative safety measures such as external safety systems, robot-based safety functions, and risk assessment according to applicable standards. With electrical feed-through, wire and verify all connections against the Tool Pinout.

Integration Guidance

When using a tool changer:

  • Verify TCP, payload, and COG after installation

  • Ensure reliable electrical connections

  • Validate safety functionality before operation

Note

Tool changers without electrical feed-through or with dedicated safety circuits may allow full use of the tool safety system. Always verify the specific tool changer design.