Yaskawa GP7 Tending Setup

I have a Yaskawa GP7 running on a YRC1000 controller, paired with an OnRobot RG2-FT gripper and a Mitsubishi M70 CNC mill. I’m ready to move from concept to a fully automated machine-tending cell and need someone who is comfortable working inside MotoSim, writing the robot jobs, and guiding the real-world deployment.

Scope
• Build a MotoSim simulation that shows the GP7 loading and unloading parts from the CNC, including door sequencing and part hand-off positions.
• Generate clean, well-commented YRC1000 job files that I can load directly onto the robot.
• Map and test the RG2-FT gripper I/O, grip-force settings, and part-present feedback.
• Provide the hand-shake logic between the robot and the Mitsubishi M70 (M-codes, signals)
• Supply a short commissioning guide so I can reproduce the setup on the shop floor.

Success looks like this: the virtual cell runs without collisions, the robot waits for the CNC cycle, swaps parts autonomously, and resets for the next load—all without manual intervention.

If you’ve deployed GP-series robots before or have deep MotoSim expertise, let’s talk timelines and next steps.