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Nachi CFD Controller - Setup Advanced Features

Tool Settings

Specific tools can be configured inside the Nachi CFD Controller to select them later from drag&bot. The configuration contains translational and rotational offset from the flange and offset of the center of gravity, mass and self-intertia of the tool-workpiece compound. However changing the translational and rotational offset has a direct impact on the flange and the displayed tool-center-point (see here) in drag&bot and should not be modified.

Configuration

To configure the tools in the Nachi CFD Controller follow these steps:

  • Ensure the robot is in teach mode. The current mode is shown on the top bar.
  • Change to expert mode as described here.
  • From the main view open the Constant Setting view with the soft button on the left side bar.
  • Change to the submenu 3 Machine Constants -> 1 Tool Constants.
  • The configuration of tool 1 is shown.
  • Configure the tool with the new values. Its recommended to let the tool 1 unchanged as it is used by default from drag&bot and only configure the tools 2 and above.
  • When configuring the tools is finished, press the button in the bottom right corner.
  • The next steps are only relevant if your controller has a Robot Monitoring Unit (RMU) set up.
  • The configured information is transferred to the RMU.
  • After transferring a panel opens up and informs you that the robot can not operate regularly as long the changed settings are approved (Error E1107 Robot monitoring unit does not be approved.).
  • Close the panel with the button.
  • A list of tools with the changed data is shown to review. Confirm the changes with the OK button in the bottom right corner.
  • Confirm to synchronize the data between the shown Controller and RMU by pressing the Execute button in the bottom right corner.
  • Enter the password 710 and press the button.
  • Confirm the approval is complete by pressing the OK button.
  • A dialog opens up, which asks whether to adjust teached programs for the changed tools. Press the No button.
  • Return to the main menu by repeatedly pressing the button.
  • In the main menu reset the shown failure with the Failure Reset button in the bottom right corner.

To select a configured tool in the Nachi CFD controller from drag&bot use the function block Nachi - Select Tool:

Nachi - Select Tool

Name Data type Description
Inputs Tool Number Integer The tool number between 1 and 32 to select in the Nachi CFD controller.
Outputs -

Adaptive Motion

Configuration

To configure the adaptive motion in the Nachi CFD Controller follow these steps:

  • Ensure the robot is in teach mode. The current mode is shown on the top bar.
  • Change to expert mode as described here.
  • From the main view open the Constant Setting view with the soft button on the left side bar.
  • Change to the submenu 39 Adaptive Motion.
  • The configuration of the adaptive motion set 1 is shown.
  • Configure the set with the new values. Depending on the coordinate system and eventually the type different settings are possible. For detailed information about the adaptive motion settings refer to the Nachi Documentation FD CONTROLLER INSTRUCTION MANUAL - ADAPTIVE MOTION, Chapter 2.2 Setting of Adaptive Motion Conditions.
  • When configuring the adaptive motions is finished, press the button in the bottom right corner.

To select a configured adaptive motion set in the Nachi CFD controller from drag&bot use the function block Nachi - Activate Adaptive Motion:

Nachi - Activate Adaptive Motion

Name Data type Description
Inputs Adaptive Motion ID Integer The adaptive motion id between 1 and 10 to select in the Nachi CFD controller.
Outputs -

To deactivate any adaptive motion set in the Nachi CFD controller from drag&bot use the function block Nachi - Deactivate Adaptive Motion:

Nachi - Deactivate Adaptive Motion

Name Data type Description
Inputs -
Outputs -