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Nachi CFD Controller Setup

Requirements

No special software options are required to be installed on the robot controller.

The Teach Pendant is required for the setup process and consists of two major parts, the touch screen and the button area. The most important buttons needed for the configuration are highlighted in the following pictures.

  • It's possible to navigate through the different submenus using the Arrow Keys.
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  • When a menu has several pages, two buttons appear on the right side to allow the navigation through them.
  • It's necessary to confirm each change when typing numbers in text fields using the Enter button. .
  • Choosing between several options is possible first by navigating to the entry field with the arrows and then change the selection by pressing one of the buttons while keeping the button pressed.

Configure the Ethernet network

  • Ensure the robot is in teach mode. The current mode is shown on the top bar.

Change to Expert Mode

  • Press the button.
  • Select the entry R314 Change the protecting level or type 314 in the search field.
  • Press the button.
  • A password field opens up. Press again the button as the password for Expert is blank by default. A popup window informs you about the new mode. Press any key to continue. When you already were in Expert mode, the controller will change back to USER mode. In this case repeat the procedure.

Configure the controller IP address

  • From the main view open the Constant Setting view with the soft button on the left side bar.
  • Change to the submenu 8 Communication -> 2 Ethernet -> 1 TCP/IP.
  • Ensure the following settings are correct:
    • The DHCP client is disabled.
    • An IP address and subnet mask are configured and are valid for the network. Note the IP address for later. For example, a valid IP is 192.168.1.1 with 255.255.0.0 mask. Please remember that you will also need to set your Industrial PC in the same IP range to establish a communication.
    • If any changes were made, then save them with the button in the bottom right corner. Otherwise return to the previous menu with the button.

Configure the FTP server

  • From the main view open the Constant Setting view with the soft button on the left side bar.
  • Change to the submenu 8 Communication -> 2 Ethernet -> 3 FTP.
  • Ensure the following settings are correct:
    • The FTP Service is enabled.
    • Anonymous Account is allowed or only allowed.
    • Connection Number is 1 or greater.
    • Connection Timeout is greater zero. 900 is a good value.
    • FTP Home Directory is D:¥WORK.
    • Directory Permission is Read/Write.
    • If any changes were made, save them with the button in the bottom right corner. Otherwise return to the previous menu with the button.

Upload the program and configuration files to the controller

Info

Uploading the program and configuration files requires the IP address and FTP server to be configured correctly.

Info

Uploading the program and configuration files can be performed with any FTP client software. In this guide the upload is shown with software available on the drag&bot IPC with Ubuntu 20.04 system. Alternatively you can use any other FTP client such as Filezilla. In this case you can install it through sudo apt-get install filezilla in the Linux terminal.

  • Download and unzip the drag&bot controller program and configuration files:

Download

Download the drag&bot controller program and configuration files: DOWNLOAD 💾

  • The downloaded and unzipped directory should contain three subdirectories PROGRAM, PLC and Settings.

  • Open a new window of the standard program File Manager.

  • In the text field displaying the directory path enter the path to the ftp server ftp://ip_address, where you replace ip_address with the IP address of the controller noted before. Example: ftp://192.168.0.1
  • The File Manager will open the WORK directory on the robot controller. It behaves like any other regular directory on the computer.
  • Copy the content from the PROGRAM directory of the downloaded and unzipped file into the PROGRAM directory of the controller. Replace already existing files.
  • Copy the content from the PLC directory of the downloaded and unzipped file into the PLC directory of the controller. Replace already existing files.
  • Replace the respective files at the WORK directory of the controller with the files in Settings directory of the downloaded and unzipped file.
  • Close the FTP File Manager window.
  • Restart the controller.

Setup for drag&bot Studio

  1. Please select Nachi CFD Controller from the dropdown menu in the drag&bot Component Manger.
  2. Configure the parameter IP for your setup. It has to match with the IP found in the section Configure the ethernet network.
  3. Configure your Robot Model for visualization. If your model is not listed, you can use the "-" entry to work without visualized robot model.
  4. Configure which digital I/O boards are set up in your controller. The I/Os use the standard mapping in the CFD controller. The digital I/Os, which can be used, depend on the existing hardware and its settings.