You will need "OPEN-NR" if you are looking to communicate to Nachi controllers using programs created in Microsoft Visual studio.Contact local Nachi distributor for this software
Any luck with this topic?
I couldn't find anything on Nachi site openly available.
there's something on sourceforge but download link is obsolete
any help appreciated 
An Open NR license is required for communication between the Nachi robot and PC. Contact the Nachi robot distributor in your region to get access to the software and license.
I spoke with some integrator which suggests to do it over Socket communication instead of licensed OpenNR.
Some program must be running in background on controller in order to send required data to external PC.
Anybody did this?
From FD11 manual:
Socket
communication
This is a function to communicate with an external device via Ethernet using a
USER-TASK program that includes various application functions. This function
make it possible to check the variables in the robot controller or to check the
condition of the robot, or to acquire the position data from a vision-device of each
manufacture and change the shift register of this robot controller
