NACHI

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

The process consists of the following 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-Mind Software Suite of the lastest version.

Set up 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_connection5.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 master-control program files of NACHI robot with a USB flash drive.

The files are stored in: xxx\Mech-Mind Software Suite-x.x.x\Mech-Center\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

There are 2 types of controller for NACHI robots, which are the FD controller and the CFD controller.

  • If you are using an FD controller, follow the steps below.

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

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

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

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

  • If you are using a CFD controller, follow the steps below.

    1. Turn the selector switch to the position as shown below.

      ../../../_images/run_2_1.png

    2. Press Teach/Play Condition in the upper right corner.

      ../../../_images/run_31.png

    3. Set MotorsON/START sel.source to Controller and Sync. w/operation mode to Disabled.

      ../../../_images/run_4.png

    4. Press the ENABLE and I keys together, and the indicator of the I key will be on.

      ../../../_images/run_5.png

    5. Press the ENABLE, SHIFT, and GO keys together. If the blue line moves in the program window, the program is started and running.

      ../../../_images/run_6.png

Test Robot Connection

Configure Robot in Mech-Viz

  1. Open Mech-Viz, click New project to create a new project.

  2. Select the robot model in use in the next page.

  3. Save the project by pressing Ctrl + S.

  4. In the toolbar, change the Vel. (velocity) and Acc. (acceleration) parameters to 5%.

  5. Right-click the project name in Resources and select Autoload Project.

Configure Settings in Mech-Center

  1. Open Mech-Center and click on Deployment Settings.

  2. Go to Robot Server, and make sure Use robot server is checked.

  3. Check if the robot model displayed next to Robot type in Mech-Viz project matches the one in use.

  4. Set the Robot IP address, and click Save.

Connect to Robot in Mech-Center

  1. Click Connect Robot on the toolbar.

  2. The robot is successfully connected if:

    • A message saying Robot: server connected to the robot shows up in the Log panel, and

    • A robot icon with the robot model shows up in the Service Status panel.

Move the Robot

  1. In Mech-Viz, click Sync Robot on the toolbar to synchronize the pose of the real robot to the simulated robot. Then, click Sync Robot again to disable the synchronization.

  2. Click the Robot tab in the lower right, and change the joint position of J1 slightly (for example, from 0° to 3°). The simulated robot will move accordingly.

  3. Click Move real robot, the real robot should move accordingly.

Attention

When moving the robot, please pay attention to safety hazards. In the case of an emergency, press the emergency stop button on the teach pendant!