The Nachi Robot Driver provides communication support to connecting to the robot and gather configuration information to display as deviceWISE variables, being the data read-only.
Nachi Device Variables
|
Variable Name |
Type |
Readable |
|---|---|---|
| Program Number | INT4 | Read from the robot |
| Step Number | INT4 | Read from the robot |
| Error Number | INT4 | Read from the robot |
| CPU Voltage 5v | FLOAT4 | Read from the robot |
| CPU Voltage 3V | FLOAT4 | Read from the robot |
| CPU Load | FLOAT4 | Read from the robot |
| CPU Temperature Sensor 1 | FLOAT4 | Read from the robot |
| CPU Temperature Sensor 2 | FLOAT4 | Read from the robot |
| Servo Comm Error Counter | FLOAT4 | Read from the robot |
| Unit Axis Count | INT4[9] | Read from the robot |
| Power Consuption | FLOAT4 | Read from the robot |
| Unit ID | INT4 | No |
| Average Speed | FLOAT4 | Depends on number of robot axis |
| Maximum Speed | FLOAT4 | Depends on number of robot axis |
| Average Torque | FLOAT4 | Depends on number of robot axis |
| Maximum Torque | FLOAT4 | Depends on number of robot axis |
| Average Current | FLOAT4 | Depends on number of robot axis |
| Maximum Current | FLOAT4 | Depends on number of robot axis |
| Lifespan | FLOAT4 | Depends on number of robot axis |
| Operation Start Time | FLOAT4 | Read from the robot |
| Cycle Time | STRING(32) | Read from the robot |
| Number of Cycles | INT4 | Read from the robot |
| Input Signal Wait Time | STRING(32) | Read from the robot |
| Timer Signal Wait Time | STRING(32) | Read from the robot |
| Spot Welding Time | STRING(32) | Read from the robot |