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Posts by bsrr
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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.
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I need to add comments to the pose files using (NACHI MZ25-0) teaching pendants. Is there any way to do it?
You could use the Teach Pendant to Write Comments for the pose file in the ASCII file editor. See below example
P1=(V1!,V2!,V3!,0,0,0)U' -->Write Comments here
Quoteproblem is that positions convert from Cartesian to Encoders.
Could you elaborate on this issue by giving more details on what you are doing?
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Robot coordinate movement will be to the robot's base, while World coordinates will be to the Robot installation angle, defined in Constant Setting->Format and Configuration->Installation Angle. An example would be a Ceiling or Wall Mount installation where the robot and World coordinate movement differently.
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"FDonDeskII Light" is free software supplied with the MZ robot. Check with your robot supplier.
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Not sure
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Since there is a delay of 0.3 after the MOVE, the robot TCP should stop at the P1000 and not 500mm away from P1000. The delay will be similar to (P)Pause.
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You could use the Attachments and Upload. Actual program is to be attached, not pictures
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Are you able to share the program and advise the step number where the error occurs
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There is an Excel sheet where you can enter the weight and dimension of the gripper and part, enter the distances to the flange, and get a result if the selected robot is suitable. The Position of wrist Motion can be input.
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Using the Constant setting as a soft key during playback is impossible.
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It seems program need to be compiled and decompiled " ASCII ". If i read right Nachi CFD controller has 64KB file size limit for program. I have controller from year 2016, i can not believe these numbers, if the number be 100 times higher it still not be much, but 64 KB that is from year 1980. Very disappointing
The memory Capacity of the CFD Controller is 256 MB(2,560,000 steps equivalent)
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The new MZ-F series have been released for high-precision applications which has High pose repeatability and improved path accuracy.[http://www.nachi-fujikoshi.co.jp/eng/rob/index.html]
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I reckon they are accurate only to 2 decimal places. When I modify the Z value in the pose file screen to 54.241, the corresponding variable screen is 54.2435 after executing the program.
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1. When I modify z: 54.232 --> 54. 236 or 54.241 or any value between 54.23 and 54.25, the displayed value will always be rounded to 54.23 or 54.25, never 54.24. Even when I enter exactly 54.24, the displayed value will also be 54.23 or 54.25
Where in the above code you have given are you modifying the Z
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Are you able to share the code you have written for this
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Replace the JT2 Motor
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The file name ending with .917 is Work Program (Executable format). The Robot language program(Source program) ending with -A.917 is a text file editable on a PC.
The method to Convert the Work program to Robot language is as below
Service->Program Conversion->Language->Select Source->(Source<-Exe)-->Select Appropriate Pose conversion and File Number--> Select Destination folder
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DIM
GETPOS
OPEPOS
POS2POSE
The above Function descriptions are available in the Command reference manual TFDEN-092
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Check attached
