2023/07/06

AMA NACHI ROBOT MANUAL

Contents
1. Nachi TeachPendant
1-1) Appearance Description
1-2) Basic Screen Description
1-3) Code
1-4) Back Up Program
2. Description of the Jog
2-1) Right Hand Rule
2-2) Jogging Description
3. Description of the Teaching
3-1) Description the Teaching
3-2) Teaching pick up process
3-3) Teaching put down process
3-4) Teaching push process
3-5) Teaching Trash process
4. Description of the auto mode
4-1) Check program
4-2) Auto mode
1. Nachi TeachPendant
1-1) Appearance Description

Part Name Description

Teach Pendant is typically operated while being held in the hand. The right-
1. TP selector switch handed users use their left-hand to support the Teach Pendant while their right-
2. Touch screen color LCD hand performs the operations on the touch screen
3. (Back side) Enable switch
4. Emergency stop button
5. (Back side) USB port
6. Operation keys
7. Jog dial
1. Nachi TeachPendant
1-2) Basic Screen Description
1. Mode display area
The selected mode (teach, playback …) is displayed here 2 1 4 5
2. Pose Select
Select teaching list
3. Variable status display area 6 7
When this status ends, the icon is cleared. 3
4. Program number display area
The number of the selected program is displayed
5. Step number display area
The number of the step selected in the program is displayed here
6. Coordinate system display area
The selected coordinate is displayed here
7. Speed display area
The manual operation speed is displayed here
8. Monitor display area 10
The contents of the program are displayed here
9. Manu service 8
10. Copy file and backup

9
1. Nachi TeachPendant
1-2) Basic Screen Description
1. Motor on group buttons
Turn on robot motor
2. Speed buttons
Change robot jog speed
3. STOP / CONTINUOUS 1
2 3
Continuous or non-continuous (single check go) during a check go or check back
operation is selected
4. Axis operating keys
The robot is moved manually
5
5. Check go/ Check back
When these are pressed together with the [ENABLE SWITCH], the check go or 4
check back operation is performed.
6. [O.WRITE / REC]
With [ENABLE] key The already recorded movement command is overwritten by
the current recording statuses (position, speed, interpolation type, and
accuracy). 6
7. RESET / R
This is a cancel key
8. EDIT
Opens the program editing screen. 7

8
1. Nachi TeachPendant
1-3) Code
Click Program number display area

Directory of Program

Description
1010 Pick up process
1020 Place process
1040 Push process
1030 Trush Process
555 Home Process
1. Nachi TeachPendant
1-3) Code

Click to select
teaching list
1. Nachi TeachPendant
1-4) Back Up Program
Structured of internal memory of the controller

Description
Backup is the process of copying files from internal memory and external memory
1. Nachi TeachPendant
1-4) Back Up Program
Select File /File Copy

internal memory

Work file

External memory
2. Description of the Jog
2-1) Right Hand Rule

Right Hand Rule

Base coordinate system
Applied When expressing a distance
direction in a Cartesian coordinate
system
Apply Tool coordinate system
When expressing the direction of
rotation in a Cartesian coordinate
system
2. Description of the Jog
2-2) Jogging Description

1-Select teach mode

2-Motor on

3-Select coordinate

4-Select speed munual

5- Grasp the Press the axis operation keys.

[ENABLE SWITCH]
3. Description of the Jog
3-1) Description the Teaching

1 Select teaching list

2 select teaching pose number(200

3 Teaching list

4 jogging robot to target point

5 Select name number point

6 Record position by group keys

[ENABLE] +[OVER WRITE / RECORD]

7 Press “ yes” to confirm

3. Description of the Jog
3-2) Teaching pick up process

Pick up teaching point

510 Wait point Master Position 1

511 Down point
512 Pick up point
513 Up point

520 Wait point

521 Down point Master Position 2
522 Pick up point
523 Up point

Master Position 1

Note:
Only teaching 2 marter point for all Tray
Master Position 2
3. Description of the Jog
3-4) Teaching put down process

• Put down teaching point

211 Wait point

212 Down point

213 Put down point

214 Up point
3. Description of the Jog
3-3) Teaching push process
• Push teaching point

411 Wait point

412 Forward point
413 Turn point
414 Down point
415 Backward point

421 Wait point

422 Forward point
423 Turn point
424 Down point
425 Backward point

431 Wait point

432 Forward point
433 Turn point
434 Down point
435 Backward point

441 Wait point

442 Forward point
443 Turn point
444 Down point
445 Backward point
3. Description of the Jog
3-3) Teaching push process

Wait point

Forward point

Turn point

Down point

Backward point
3. Description of the Jog
3-5) Teaching Trash process

• Trash teaching point

310 Wait point
311 Trash point
4. Description of the auto mode
4-1) Check program

1. Select Program screen

2. Select program number

3. Motor on by group key

4. Select check speed

5. Grasp the
[ENABLE SWITCH]

6. Run program by keys

[Check go]

Description
Keep the check go key until the program ends with step "End“
Before that some conditions from PLC need to be enabled
4. Description of the auto mode
4-1) Auto mode

Change keys to auto mode

on TP and controller

Change 2 item

Recommend:
Run Home process before auto robot