AW ROBOT CONTROLLER

AW Nachi Industrial Teach Pendant

Robot Controller
• User-friendly, ergonomic design,
This high-performance, multi-tasking easy to use
controller offers an open concept • Color graphic Windows®-style
design, along with increased display with pull-down menus
performance and improved menu- • Customized pendant display
driven programming. Reliability and functions - you can configure
safety are also important features of
the AW controller. With a smaller
footprint than our previous controller
the AW offers more options and
improved programming efficiency.

Control Features
• 50 mm short pitch move;
30% quicker
• High-speed interference detection
• Advanced 32-bit high-speed DSP
motion control
• Improved maintenance access Applications
• Protection for motor control circuit
Used on all Nachi robot products
• Amplifier power loss reduced by 40%
Open Concept
Enhanced Software
• Extends to industry standard bus
• Path unaffected by speed change
(ISA/PCI)
• Customized pendant display
• Supports Windows® applications
function
(with extra printed circuit board)
• High-speed CPU produces smooth
• PC operation ease with industrial
operation
reliability
 AW
ROBOT CONTROLLER

Features
Controlled Axes Simultaneous 6 axes (standard), additional 10 axes optional
Memory Capacity 28,000 robot program points
CPU 32-bit microprocessor
Memory IC RAM with battery back-up
Positioning Device Absolute encoder
Drive System Fully digital with DSP control
AC Servo motors
Control Cabinet
Unit Free standing, NEMA 12
Dimensions Height: 1,180 mm
Width: 600 mm
Depth: 550 mm
Weight 260 kg
Programming Features
Program Selection 999 programs (BCD), 10 programs (discrete)
Programming ICON and menu driven
Display Unit Interactive teach pendant
Windows®-style interface
User programmable menu display
Color graphic display with fine resolution
Language SLIM (robot language) Nachi Robotic
System Software Flash ROM Systems Inc. (NRS)
Application Software Spot weld, seal, spray, arc, palletize, and more North American Headquarters
Integrated spot (Nachi or Medar) 22285 Roethel Dr.
Integrated arc (Nachi) Novi, MI 48375
Additional Features User macros Tel: 248.305.6545
User coordinates Fax: 248.305.6542
Multi-robot control www.nachirobotics.com
Equipment Interface
Indiana Branch Office
Interface PCMCIA port/3.5" FDD/RS232C/RS422/Ethernet
5032 West 79th St.
Input/Output (Standard) 32 inputs VDC
32 outputs VDC Indianapolis, IN 46268
(Optional) 56 inputs VDC Tel: 317.870.0390
48 outputs VDC Fax: 317.870.0395
120 VAC capabilities expandable up to 40 inputs/outputs
Input/Output (Optional) AB RIO Node adapter (full rack) Toronto Branch Office
Device Net 89 Courtland Ave. #2
Analog Signal Input: 2 channels Concord, ONT
Output: 3 channels Canada L4K 3T4
Conveyor Pulse Counter 2 channels Tel: 905.760.9542
Additional Features Extended bus, ISA, PCI, CPCI Fax: 905.760.9477
Power Supply
(Standard) 480 VAC ±10%, 3 Phase, 50 or 60 Hz Mexico Branch Office
(Optional) 575 VAC ±10%, 3 Phase, 50 or 60 Hz (Canada) Oficina de Representacion
Others available Ingenieros Militares 85, “C” 1-2
Col. Argentina 11230
Environmental Mexico, D.F. Mexico
Ambient Temperature Rating 0 to 45 degrees C Tel: 52.55.5576.7148
Ambient Humidity 20 to 85 RH Fax: 52.55.5576.4495
Cooling Method Heat exchanger

Nachi Robotic Systems Inc. reserves the right

to change specifications without notice.
Rev 05/03
 AXROBOT CONTROLLER

Nachi AX PC-Based Teach Pendant

Robot Controller
• Easy to operate -
Our latest high-performance, ergonomic design
multi-tasking controller features • Enhanced color graphic
hardware and software enhancements Windows® display
resulting in shorter cycle times. • Pendant display functions
Programming is fast and flexible can be customized
with additional options available • Optional digital touch screen
through the teach pendant. With the
internal manual/diagnostic function,
maintenance can be done from a
remote location. The AX also complies
to international standard safety circuits
for security you can count on.

Control Features
• 50mm short pitch move - 30% faster
• International standard safety circuit
• High-speed interference detection
• Fully digital drive with high-speed
DSP motion control
• Simplified maintenance Applications

Enhanced Software Used on all Nachi robot products

• Real time operating system (RTOS) Open Concept

plus embedded WindowsNT®
• Improved robot motion • Extends to industry standard
• Easy tools to develop and bus (ISA/PCI)
validate robot programs • Supports Windows® applications
• Software PLC directly (with extra printed circuit board)
controls peripherals
• Offline programming
• Visual maintenance with
online manual
ROBOT CONTROLLER
AX
Features
Controlled Axes Simultaneous 6 axes (standard), additional 12 axes optional
Memory Capacity 160,000 robot program points
Memory Flash memory
External Storage Device I/F Compact flash card I/F
Positioning Device Absolute encoder
Drive System Fully digital with DSP control
AC Servo motors
Control Cabinet
Unit Free standing, NEMA 12
Dimensions Height: 1,180 mm
Width: 600 mm
Depth: 550 mm
Weight 192 kg
Programming Features
Program Selection 9999 programs (BCD)
Programming ICON and menu driven
Display Unit Interactive teach pendant
Windows®-style interface
User programmable menu display
Color graphic display with fine resolution (6.5" 640 x 480)
Language SLIM (robot language) Nachi Robotic
System Software Flash ROM Systems Inc. (NRS)
Application Software Spot weld, seal, spray, arc, palletize, and more North American Headquarters
Integrated spot (Nachi or Medar) 22285 Roethel Dr.
Integrated arc (Nachi) Novi, MI 48375
Additional Features User macros Tel: 248.305.6545
User coordinates Fax: 248.305.6542
Multi-robot control www.nachirobotics.com
Internal electronic manual/diagnostic function
Equipment Interface
Indiana Branch Office
Interface RS232C/Ethernet (10 Base T)
5032 West 79th St.
Input/Output (Standard) 32 inputs DC24V
Indianapolis, IN 46268
32 outputs DC24V
Tel: 317.870.0390
(Optional) 64 inputs DC24V
64 outputs DC24V Fax: 317.870.0395
120 VAC capabilities expandable up to 40 inputs/outputs
Input/Output (Optional) AB RIO Node adapter (full rack) Toronto Branch Office
Field Bus (Max 4ch) Device Net, profibus, and others supported 89 Courtland Ave. #2
Analog Signal Input: 2 channels Concord, ONT
Output: 3 channels Canada L4K 3T4
Conveyor Pulse Counter 2 channels Tel: 905.760.9542
Additional Features ISA, PCI bus Fax: 905.760.9477
Power Supply
(Standard) 480 VAC ±10%, 3 Phase, 50 or 60 Hz Mexico Branch Office
(Optional) 575 VAC ±10%, 3 Phase, 50 or 60 Hz (Canada) Oficina de Representacion
Others available Ingenieros Militares 85, “C” 1-2
Environmental Col. Argentina 11230
Ambient Temperature Rating 0 to 45 degrees C Mexico, D.F. Mexico
Ambient Humidity 20 to 85% RH Tel: 52.55.5576.7148
Cooling Method Heat exchanger Fax: 52.55.5576.4495

Nachi Robotic Systems Inc. reserves the right

to change specifications without notice.
Rev 05/03
AX20 Robot
Controller
Our latest high-performance, multi-tasking controller
features hardware and software enhancements resulting in
shorter cycle times. Programming is fast and flexible with
additional options available through the teach pendant.
With the internal manual/diagnostic function, maintenance
can be done from a remote location. The AX20 also
complies to international standard safety circuits for security
you can count on.

Control Features
50mm short pitch move — 30% faster
International standard safety circuit
High-speed interference detection
Fully digital drive with high-speed
DSP motion control
Simplified maintenance

Enhanced Software
Real Time Operating System (RTOS) plus
embedded WindowsNT®
Improved robot motion
Easy tools to develop and validate robot programs
Software PLC directly controls peripherals
Offline programming
Visual maintenance with online manual

Teach Mode
Easy to operate — ergonomic design
Enhanced color graphic Windows® display
Pendant display functions can be customized AX20 Robot Controller Interior
Optional digital touch screen

Applications
Used on all Nachi robot products

Open Concept
Extends to industry standard bus (ISA/PCI)
Supports WindowsNT® applications (with extra
printed circuit board)

w w w. n a c h i ro b o t i c s . c o m
AX20 Robot Controller
Basic Specifications
Controlled Axis Simultaneous 7 axes (maximum 9 axes optional)
Total 18 axes (extended control cabinet)
Servo Motor / Positioning Device AC servo motor / Absolute Encoder
Programming Language(s) Teaching playback (Standard Step / Function Record method)
JIS SLIM language (optional)
IEC1131 software PLC (Nachi Soft-PLC)
Program Number / Memory Capacity 9,999 programs / 16MB (160,000 steps equivalent)
Robot Cables (Wire Harness) Standard cable length 5m (for floor mounted or shelf-mounted type)
from Controller to Manipulator (10m, 15m 20m and 25m cables are optional)
Internal / External Memory Flash memory / Compact Flash card Interface
User Interface Interface PB panel on front of controller, additional mounting inside of door & side panel
Construction / IP Rating Enclosed box with IP54 Rating
Cooling System Direct cooling system
Input Supply Voltage(s) Without transformer: AC200V - 220V ± 10% (3 phase, 50/60Hz)
With transformer: AC380V ~ 480V ± 10% (3 phase, 50/60Hz)
Ambient Temperature / Humidity 0-45˚C / 20-85% (No Condensation)
Power Consumption Peak power while in playback of operation program:
ST Series: Approx. 5kVA SG Series: Approx. 5kVA SC35/50 Series: Approx. 3kVA
SC15: Approx. 2kVA SC Heavy Payload Series: Approx. 5kVA
Lift500 series approx. 9kVA (3 axes specification)
Controller Cabinet Dimensions W450 x H782 x D550mm (without controller casters); Height: 882 (with controller casters)
W450 x H1195 x D550mm (without controller casters); Height: 1295 (with controller casters)
Weight Approx. 85kg without transformer
Approx. 165kg with transformer
Coated Color Munsell 10GY9/1
Operator Protective Function Teach model/Playback mode interlock
Deadman switch
Emergency stop button (Operation panel / Teach pendant / External signal input)
Guard fence door interlock signal (SFP – Safety Plug)
Enable switch interface
Self-Diagnosis Function Used to self-diagnose errors of the robot and controller (available for approx. 700 types of errors)
Error Detection Function Used to monitor the status of the robot and controller at all times
Used to make the robot an immediate stop when an error occurs
Teach Pendant Screen 6.5-inch color TFT LCD (256-color display of 640 x 480 with a back light)
TP Weight Approx. weight 1.3 kg (excluding connection cables)
Cable Length Standard TP cable length 8m (15m, 20m, 25m and 30m cables are optional)
Deadman Switch Single-hand three-position Deadman switch is standard (optional two handed)
Touch Screen Digital Touch Screen (Optional)
Language Support Support for two concurrent languages are selectable from the languages shown (all languages except for English and
Japanese are optional): Japanese, English, German, Korean, Taiwanese (traditional Chinese), Portuguese, Spanish,
French, Chinese (simplified Chinese), Italian, and Dutch)
Option Functions
Primary Power Voltage For out-of-the-standard primary power voltage (AC200-220V)
Compact Flash Card Interface The compact flash card slot is installed
Servo Gun Auxiliary Axis Spot welding gun is controlled — gun specification (gun quantity, gun change) and simultaneous usage with another
auxiliary axes depends on the individual application (additional amplifier may be necessary)
Slide Positioner on other Auxiliary Axis Slide positioner is servo controlled (additional amplifier may be necessary)
Positioner Axis Positioner is servo controlled (additional amplifier may be necessary)
Field Bus Device Net, Profibus-DP, Interlink, RIO, CC-LINK, maximum 2 communication channels per controller.
(Ex. 1 Master and 1 Slave, 2 Master or 2 Slave)
Input / Output Input 32 DC24V (input resistance 3k, input current 3mA or greater, sinking style input)
Output 32 DC24V (Output voltage DC24V, +/- 3V at 100mA)
Extended DC I/O Additional 32/32 or 64/64 for a total of 64/64 or 96/96 I/O)
XYZ Shift Recorded point is played back with XYZ parallel shift amount
Palletizing Palletizing & de-palletizing teaching programmed by integrated user friendly pattern definition
Robot Language JIS SLIM language
Built-In PLC Offline programming software tool (ICS Triplx ISaGRAF Workbench)
Standard Functions
Accuracy A selection from 8 (0-1000mm) of in-position accuracy can be designated on each step. In-position or path-through
can also be designated
Tool Designation 32 unique tools can be defined for use on taught positions.
Automatic Tool Length Calculator Automated tool length calculation by selecting taught program
Automatic Tool Weight and COG Calculator Automatic tool weight and COG is calculated by running designated program
Automatic Tool Moment of Inertia Calculator Automated tool moment of inertia is calculated by running designated program
Self Checking Error Detection Continuous real-time internal self checking of the robot and controller for fault or errors conditions, (700 types of
errors). The robot stops immediately when error is detected.
Logical I/O Maximum 2,048 logical I/O points for use with Soft-PLC
Programming Editor 1. Screen Editor – addition, deletion and copy of every move step and function is available; recorded position can
also be edited
2. Copy Utility – recorded program and step can be copied
3. Program Conversion – condition and speed, each axis angle, parallel shift, etc.
4. Program Certification – file directory, file verify
5. Undo function to delete last teach pendent programming operation
Power Save Function Saves energy by locking brakes and removing motor power after a pre-determined times has elapsed with no
motion. After extended non-motion time, the controller cooling fans will stop for further power savings.
Help Message (Built-in Manual) Operation and function explanations are displayed on teach pendant screen along with a graphical display
troubleshooting manual.
Home Positions & Outputs Up to 32 unique positions can be defined with designated output when robot is at position.
Search / Interrupt Function that allows for the detection of part position deviation, shifting the robots programmed positions) to
compensate. (Sensing device is not included.)

For more information and specifications, please visit w w w. n a c h i r o b o t i c s . c o m