NACHI

This section introduces the process of loading the robot full-control program onto an NACHI robot.

The process consists of 4 steps:

Please have a flash drive ready at hand.

Check Controller and Software Compatibility

  • There is no specific requirements on the version of robot controller.

  • It is recommended to use Mech-Center of the lastest version.

Setup the Network Connection

Hardware Connection

Plug the Ethernet cable into the LAN port of the robot controller to connect it with the IPC.

../../../_images/hardware_connection4.png

Change the Protecting Level

  1. Open the teach pendant and press the icon_r key, as shown below.

    ../../../_images/keyboard1.png

  2. Enter 314 in the box as shown below, and then press icon_enter (Enter key) on the teach pendant.

    ../../../_images/change_degree_1.png
    ../../../_images/change_degree_2.png

  3. Enter the default password 12345 in the box, and then press icon_enter key on the teach pendant to change into SPECIALIST level.

    ../../../_images/change_degree_3.png

  4. A pop-up window as shown below suggests that you have successfully changed the protecting level and all functions can be used from now on.

    ../../../_images/change_successfully.png

IP Configuration

  1. Go to Constant Setting‣ 8 Communication‣ 2 Ethernet ‣ 1 TCP/IP to configure TCP/IP Settings.

    ../../../_images/set_ip_11.png
    ../../../_images/set_ip_21.png

  2. Enter the robot IP address in the IP Address box.

Hint

The robot IP should be in the same subnet as the IPC. If you need to set the static IP, please contact the network administrator.

Load the Program Files

Prepare the Files

Copy the full-control program files of NACHI robot with an USB flash drive.

The files are stored in: XXXX/Mech-Center-xxx/Robot_Server/Robot_FullControl/nachi

../../../_images/program_files.png

Attention

Please rename the MZ12-01-A.120 file according to the actual robot model name. For example, when loading the file to the SRA166-1 robot, rename the file as SRA166-1-A.120, and then copy and paste it into your flash drive.

Load the File to the Robot

  1. Plug the USB flash drive into the USB port on the back of the teach pendant, as shown below.

    ../../../_images/insert_disk.png

  2. Select File‣ File copy on the touch panel.

    ../../../_images/select_file1.png
    ../../../_images/copy_file.png

  3. Device (src) is the folder of the USB flash drive. Select the folder where the program files are stored under Device (src) and the PROGRAM folder under Device (dest) and then press on Select All File

    ../../../_images/select_all_file.png

  4. Press on Execute to import files.

    ../../../_images/execute.png

  5. If the following messages appear on the screen, the program files have been loaded successfully.

    ../../../_images/success_1.png
    ../../../_images/success_2.png

Attention

Please reboot the robot after exiting the program.

Convert the Program File

  1. Go back to the main interface, press on Service Utilities‣ ASCII File Edit to edit the ASCII files.

    ../../../_images/service_utilities.png
    ../../../_images/ascii_file_edit.png

  2. Select the file and press on Execute. Please perform the same operation on all three files in turn, and you can only start executing after the previous execution is completed.

    ../../../_images/execute_file.png

  3. After pressing on Execute, a window as below will pop up, and then select Yes.

    ../../../_images/execute_file_2.png

  4. After converting the program file to the robot language, a message as shown below will appear.

    ../../../_images/execute_success.png

Designate the Program

  1. Return to the main interface, go to Monitor2–> User Task–> User Task Monitor.

    ../../../_images/set_up.png
    ../../../_images/set_up_2.png
    ../../../_images/set_up_3.png

  2. Now you can see the User Task Monitor as shown below. Press the icon_edit key on the teach pendant, and then the User Task Monitor (⑤) line will turn orange, suggesting that it is editable now. Enter 21 in the first line in the Program column, and enter 22 in the second line. Then, press icon_edit key.

    ../../../_images/task_monitor.png
    ../../../_images/set_up_4.png
    ../../../_images/set_up_5.png
    ../../../_images/set_up_6.png

    Hint

    If the robot cannot move in a smooth way, please change the priority level of the program 21 from 4 to 5.

  3. Select the Status column, and press icon_add and icon_1 keys at the same time.

    ../../../_images/set_up_7.png
    ../../../_images/set_up_8.png

  4. Go to Program‣ Designated Program, enter 120 in the box, and then press icon_enter key. The designated program will appear in the Program panel and User Task Monitor.

    ../../../_images/set_up_9.png

Start the robot

  1. Turn the key on the controller and orientate it to the location ①.

    ../../../_images/run_11.png

  2. Turn the selector switch as shown below. Press the green button and white button in turn to start the robot.

    ../../../_images/run_21.png

Hint

After running the full-control program successfully, you can open Mech-Center to connect the robot.

Test Robot Connection

Please refer to Test Robot Connection for detailed instructions.