NRL Support for Nachi AW/AX controllers

This section describes the Native Robot Language (NRL) Teach support for Nachi AW and AX controllers.

For each controller, it is necessary to create a CCF config file to display controller-specific robot commands, and to create a dressup downloader to output necessary information, in addition to the portion shown in NRL Teach.

For Nachi AW and AX robots (controller type), NRL Teach will display controller-specific command buttons, and script corresponding statements. Users can use the command buttons to script statements, such as motion commands to jog a robot and record motion instructions.
This procedure describes statement generation and download using NRL Teach.
To perform this procedure, you must have a robot loaded and at least one robot task defined.

  1. Click Native Robot Language Teach  , and select a robot task from the PPR tree, to open the NRL Teach dialog box.

     

  2. Select a motion instruction command (MOVE, MOVEJ, or MOVEX), Jog the robot and Record positions.

  3. Click Play All to simulate the selected task.

  4. Click Download Robot Program , in NRL Teach dialog box. The download operation will output AW and AX program files. For example,
    1 MOVEX A=1P, M1X, P, (1769.99656,-593.02338, 2079.99416,-179.99985,-64.26431,-0.00014), CONF=000, S=2500, H=1
    2 END

  5. Click Upload Robot Program , to upload the robot program stored in the previous step.

  6. Click Play All to simulate the selected task.