Nachi Preparation

In this course you will learn how to prepare robots from Nachi for using Mimic. 

Please note that precision of the use of the robot with Mimic is dependent on the calibration of the robot itself. Not all robots are calibrated by default to satisfy all application requirements. Please check the calibration of the robot prior to use.

Mimic for Nachi - Robot Preparations

Mimic Core is compatible with the follwoing Nachi Controllers:

• FD Controller (external tracking card needed)

• CFD Controller (external tracking card needed)

• CFDs Controller

• CFDq Controller

What you need prior to Mimic installation

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• External tracking module (Nachi external tracking card - only applicable for FD and CFD Controllers)

  The Nachi controller supports: Intel PWLA8391GT PRO 1000GT Network Card Ethernet PCI RJ45 (or other card with Intel PWLA8391GT).

• Gigabit switch (at least 3 ethernet ports) 

• Ethernet cables (2 extras)

• Please see:  📄 Mimic Controller Setup (v2.4)

  
  

Known unsupported models

• CZ10

• All Nachi cobots

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Hardware Setup

Connect a Gigabit switch to the Mimic Controller connect 2 ethernet cables to the switch and the robot.

Wire the Mimic  Controller to the Robot

1. Install the external tracking network card.

2. Connect the switch to the Mimic Controller

3. Connect the 2 ethernet cables to the switch and the robot

   - One from the external tracking network card to the switch

   - One from the main network card to the switch

4. Restart the robot.

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How to Configure a Nachi Robot

Login and Change the Permission on the Robot

Change the permission on the Nachi robot to the specialist level.

• Press “R” on the teachpad,

• enter the code “314”,

• press “Enter”,

• enter the code “12345” and

• press “Enter”

Disable Memory Protection

• Change permission on the robot to be "specialist"

• Navigate to “Constant Setting” > “1 Control Constants” > “11 Memory Protection”.

• Hold down the physical Enable button on the teachpad and switch the memory protection to “Disabled”.

• Click on “Complete” to save the changes.

• Restart the robot.

Setup the Extend Ethernet

• Change permission on the robot to be "specialist".

• Navigate to “Constant Settings” > “8 Communications” > “7 Extend Ethernet”.

• Set extend ethernet to “Enabled”, the IP address to 192.168.1.51 (default) and the Subnet mask to 255.255.255.0.

  Note: The IP address can be different from the default but need to be on the same subnet as the Mimic Controller.

• Press “Complete” to save the change.

• Restart the robot.

Enable Memory Protection

• Change permission on the robot to be "specialist".

• Navigate to “Constant Settings” > “1 Control Constants” > “11 Memory Protection”.

• Hold down the physical Enable button on the TeachPad and switch the memory protection to “Enabled”.

• Press on “Complete” to save the changes.

• Restart the robot.

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Setup the External Tracking

• Change permission on the robot to be "specialist".

• Navigate to “Constant Settings” > “45 External Tracking”.

• Set the IP address to 192.168.1.20. 

• Set the Port to 2568, 

• User(Digital) inputs: This is set to the start index of which inputs Mimic can read. Mimic reads 64 inputs so if the index is set to 21 it will read the inputs 21 - 84. Setting this index to 0 will prevent Mimic from reading any inputs.

• User(Digital) outputs: This is set to the start index of which outputs Mimic can set. Mimic sets 64 outputs so if the index is set to 21 it will set the outputs 21 - 84. Setting this index to 0 will prevent Mimic from setting any outputs.

• Set Timeout to 300 ms. 

• Set Parallel movement 0.0mm, 0.0mm. 

• Set Rotational movement 0.00deg, 0.00deg. 

• Set Joint angle to 0.00deg. 

• Press complete to save

• Restart the robot.

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Setup the Main Ethernet Connection

• Change permission on the robot to be "specialist".

• Navigate to “Constant Settings” > “8 Communications” > “2 Ethernet” > ”1 TCP/IP”

• Hold down the physical Enable button on the Teachpad and change the DHCP to “Disabled”

• IP to 192.168.1.50.

• The IP address can be different from 192.168.1.50, but it needs to be the same as the subnet on the Mimic Controller and the IP for the Extend Ethernet.

• Subnet mask to 255.255.255.0.

• Press complete to save.

• Restart the robot.

Transfer Mimic Program to the Robot

Transfer the robot programs to the robot in the “Program” folder.

This can be achieved using ftp. The files can be found on the USB. 

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FTP (Optional)

1. Change permission on the robot to be "specialist".

2. Enable FTP. Navigate to “Constant Settings” > “8 Communications” > “2 Ethernet” > ”3 FTP” Change FTP Service to “Enabled”.

3. Connect a PC to the robot via ethernet cable.

4. Open a file browser

5. Go to ftp://192.168.1.50

6. You should now be able to add files to the robot by using the file browser. Add them to the program folder.

7. Restart the robot.

The files to transfer are:

Change the filenames of MZ07-A.*** to the robot model used

Example: If using a MC20 the MZ07-A.000 file needs to be named MC20-A.000.

• Public.inc (Global variable definitions)

• USERTASK-A.000 (TCP communication with Mimic Controller)

• USERTASK-A.001 (UDP communication with Mimic Controller)

• GLOBALCONST.INC (Global numeric constants variable definitions)

• INSTRUCTIONSERVER.INC (Numeric constants and variable alias for USERTASK-A.000)

• LOGSERVER.INC (Numeric constants and variable alias for USERTASK-A.001)

• GENERALSERVER.INC (Numeric constants for USERTASK-A.000 and USERTASK-A.001)

• BOXCOMMANDS.INC (Numeric constants for USERTASK-A.000 and MZ07-A.000)

• VARIABLEALIAS.INC (Variable alias names for MZ07-A.000 and MZ07-A.001)

• MZ07-A.000 (Robot Program for execution of Mimic Controller commands)

• MZ07-A.001 (Robot Program for execution of Mimic Controller trajectories)

• MZ07-01-A.002 (Robot Program to Run Robot Sub-routines. See details further down)

• MZ07-A.072 (Mimic main program)

• MZ07-A.071 (Example on how to play a Mimic program from the robot. Calls program 70)

• MZ07-A.070 (Program 70)

• MZ07-A.081 (Example on how to start Track from the robot. Calls program 80)

• MZ07-A.080 (Program 80)

• MZ07-A.091 (Example on how to start Teach from the robot. Calls program 90)

• MZ07-A.090 (Program 90)

• MCC_LOCALVARS.INC (Local variables for MZ07-A.000)

• USERTASK0_LOCALVARS.INC (Local variables for USERTASK-A.000)

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Restart the robot.

All the included files are only loaded after robot restart.

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Compile the robot programs

1. Change permission on the robot to be "specialist".

2. Navigate to “Service Utilities” > “9 Program Conversion” > “8 Language”.

3. Select the robot programs to compile.

   USERTASK-A.000

   USERTASK-A.001

   MZ07-A.000

   MZ07-A.001

   MZ07-01-A.002

   MZ07-A.070

   MZ07-A.071

   MZ07-A.072

   MZ07-A.080

   MZ07-A.081

   MZ07-A.091

   MZ07-A.090

4. Restart your robot.

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Using sub-routines with Mimic on NACHI

It is possible to call sub-routines from the Robot when creating a complete Program in Mimic's Library. See 📄 Library 2.2 (v2.4).

To do this on Nachi, use the provided Robot Program MZ07-01-A.002. This is a switch case.

The "Case number" corrosponds to the program ID used in the Mimic Program (created in the Mimic Library). Hence, if the Mimic sub-routine ID = 1, the Nachi Robot Program runs CASE 1.

REM "Run robot job"

INH

SWITCH A1!

  CASE 1

(write code here)

  BREAK

  CASE 2

(write code here)

  BREAK

  CASE 'Nothing

  BREAK

ENDS

END

It is possible to write the intended behaviour directly in the CASE. It is also possible to call an existing NACHI program on the robot.

Example: Calling existing NACHI program with number 30, in CASE 1:

REM "Run robot job"

INH

SWITCH A1!

  CASE 1

  CALLP 30

  BREAK

  CASE 2

  BREAK

  CASE 'Nothing

  BREAK

ENDS

END

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Your Nachi robot is now ready to use Mimic.

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