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)

Important

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

Failure to do so may result in incorrect motion and reduced accuracy.

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

Warning

If the safety circuit is disconnected, the integrated safety system of the SD/SDV-Series tool will not function.

When using a tool changer with electrical feed-through, all electrical connections must be correctly wired and verified.

Incorrect wiring or poor connections may result in:

  • Damage to the tool

  • Damage to the Spin Bridge

  • Unstable or unsafe system behavior

The integrator is responsible for ensuring correct electrical integration.

Any damage caused by incorrect wiring is the responsibility of the integrator.

See SD/SDV-Series Pinout Interface

Note

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

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

  • 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

These issues may result in:

  • Communication failure

  • Unexpected tool behavior

  • Permanent damage to electronics

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/SpinBridge.

If this connection is broken:

  • The safety sensor cannot trigger a stop

  • The tool safety functionality will not function

Important

In such configurations, the integrator must implement alternative safety measures to ensure safe operation.

This may include:

  • External safety systems

  • Robot-based safety functions

  • Risk assessment according to applicable standards

Integration Guidance

When using a tool changer:

  • Verify TCP, payload, and COG after installation

  • Ensure reliable electrical connections

  • Validate safety functionality before operation

Important

Always perform a functional test of the system after installation, including verification of safety behavior.

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.