Robot Software

In addition to hundreds of standard functions built into FD11 Controller, NRS has created standard application software packages to simpify setup and use:



Program spotwelding parameters at the touch of a button, intuitive menus provide simple set up of your process.   Nachi also accommodates many integrated solutions offered by the various weld timer suppliers.  Allows the user to control all aspects of the spot welding process directly from the robots teach pendant.  Complete spot welding system setup, schedule programming, manual welding, weld data results, process monitoring diagnostics, manual gun motion, and much more are standard with Nachi’s spot welding software.

Material Handling

Material Handling

With multifaceted functionality to teach a robot path and build your application through menu driven functions.  Nachi material handling software will allow for easy set up in a multitude of applications including Component Transfer, Repetative Lifting, and Assembly Applications.  Allows the user to easily open and close gripper clamps, switch between handling tools, view gripper status, and simplify material handling processes.

Arc Welding

Arc Welding

Takes integration to the next level with the OTC Daihen Power Supply.  Seamless programming for all your arc welding parameters are at a touch of a button on the robot teach pendent.  Nachi’s partnership with OTC Daihen allows us to offer the most advanced arc welding solutions for any material (Steel, Stainless, Aluminum, Inconel, and many others).

Welbee Palletizing

Welbee Palletizing

Automatically generates programs and complete palletizing routines using basic cell layout data and package measurements.  Minimal robot programming is needed to create a palletizing routine that will pick or place literally hundreds of parts.  Standard and custom (“Simple” and “Highly Effective”) palletizing routines can easily be created using the standard palletizing software.  “Simple” palletizing software is used to stack parts with standard geometry into even rows and columns.  “Highly Effective” palletizing software is used to create custom pallet layouts with many different offsets and rotation critical placement.



Nachi dispensing process functions can adapt to almost any kind of sealant or adhesive, placing the medium accurately and consistently. Using speed proportional output software dispensing control systems function in unison with robot motion.  With this solution the dispensing rate is directly proportioned using the robots TCP travel speed.  Allows the user to define automatic or proportional dispensing rates, manual dispensing rate, gun number, perform manual operation an purge, refill set points, and operational limits of dispensing equipment.

Machine Tending

Machine Tending

Nachi Robots easily connect with any brand of machine on all of the most common communication protocols including DeviceNet, Profibus, Interbus, ControlNet, Ethernet, and many more.

Seam Welding

Seam Welding

Advanced seam welding software allows easy programming of welding schedules directly through the robot teach penant. Software automatically synchronizes roller electrodes dynamically adjusting rotational speed for welding complex shapes and curved surfaces.  Integrated servo driven electrode dressing station monitors electrode consumption and automatically adjustes the robot path.

XYZ Shift

Easily modify a location within a program in a few keystrokes.


Allows users to backup and restore robot application files to a personal computer.

SLIM Robot Language

Standard Language for an Industrial Manipulator.

Program Diagnosis Tool

Review and evaluate the efficiency of your robot program to assure top performance of your NRS robot.

Territory Definition

Allows for an advanced I/O lock between two (2) or more NRS robots that have areas of common workspace and mitigates collision risk between multiple NRS robots, while working in those areas.

True TCP Proportioning

Software developed especially to control external equipment in relation to the Tool Center Point (TCP) speed of the robot when performing operations, such as dispensing.

Socket Communication

Performs Ethernet communication using various application commands from a user task program. Simple to reference and rewrite a wide variety of data from an external device via Ethernet.

High Speed Interference (Collision Detection)

A tool to minimize any collision related damage to your robot and tooling. Adjustments in sensitivity can be made based on your own robot path and application.

Auto COG Calculator

Software functionality that will optimize robotic acceleration and deceleration based on true payload and COG of payload.

File Manager

Users can easily create and restore robot backups, copy files, verify file content, apply access restrictions, password protect files, delete files, format storage drives and transfer backup files over FTP.

3 Dimensional Coordinate Shift

Transform a program from one location to another by simply creating three reference points.

Robot Life Expectancy

Visual interface developed to review the robot mechanical performance. A predictive maintenance tool based on historical robot program operation.

External Input Shift

Allows external devices, like a PLC or HMI, to transfer shift data into the robot to modify programmed paths on the fly.

Automatic Backup

Schedule an automatic backup of the entire robot controller on a daily, weekly, monthly or custom time frame.

Text Out

Allows user to convert robot programs into text based format for viewing on a PC.

User Coordinate Definition

Generate up to 100 different custom coordinate systems to simplify programming to unique work planes.

Hot Edit

Edit program speeds, tool numbers, interpolation types, accuracy, acceleration, smoothness and more on the fly during playback operation.

Help Menu

Help on the teach pendant guides the user through setup, use, programming and troubleshooting with the touch of a button.

Mirror Image

Easily create mirror image programs from existing programs. This significantly reduces programming time when the robot is performing similar tasks on multiple parts ofthe robot.

User Help

Put photographs directly on your teach pendant. Photographs can be created on a pc, edited to suit and easily uploaded into the robot controller for viewing. Typically diagnostic or training photos are used to help the user through common manufacturing situations.


Create up to a total of 72 custom function keys, switches, status indicator lamps, buttons numeric displays, numeric inputs and visual diagnostic tools. Programmable keys are simple to interface with Software PLC programs and all I/O.

ASCII File Conversion

Allows the user to easily convert robot programs into text based format for editing on a PC. It also provides a simplified method to adding robot language into programs, while working offline in a text based editor.

Interface Panel

Create up to almost 250 custom keys, switches, status indicator lamps, buttons, numeric displays, numeric inputs, visual diagnostic tools and function keys on the color touch screen teach pendant. Programmable keys are simple to interface with Software PLC programs and all I/O.

User Task

Standard functionality in Nachi FD11 Controller that will allow for running a program created in SLIM. This involves no robot motions in parallel with a robot motion program. Easily perform calculations concurrently with robot motions to minimize time. User task can also be used to arrange windows on the Teach Pendant screen and display a variety of information.

Monitor Screens

Users can view every diagnostic aspect of the robot controller in real time, as up to four monitors can be present on the screen simultaneously.  Common monitors include: robot program, user inputs, user outputs, axis position data, failure logging, Analog I/O, variables values, stop watch, operation cycle time, weld status, PLC logic and fieldbus.

Software PLC

Allows for simple programming of the IEC1131 PLC resident in the Nachi FD11 Robot Controller. Use the Nachi Software PLC to communicate with other robots, machines and peripheral equipment, as well as manage internal robot operations. Hundreds of included functions allow the Nachi Software PLC to perform complex tasks normally conducted by external PLC devices.

For more advanced applications, Nachi offers special software packages to help make the most of your Nachi Robot.

Optional Software


Flexible Graphical User Interface running on NRS’ advanced FD11 robot controller that allows the user to easily create nice looking and intuitive user interfaces. These can be programmed to meet any operator’s skill level.

Adaptive Motion

A software compliance package allowing the robot to adapt position and path during part insertion or when external force is placed on the robot.


Software control process in which multiple Nachi mechanisms (manipulators, auxillary axes, etc.) operate simultaneously, while position, posture and speed of the tools is controlled relative to the work.

Multi-Unit Control

A software package that divides mechanisms connected to a control unit into a number of groups called “units” and controls the robot on a unit-by-unit basis.

Force Control Function (FCF)

Force Control Function provides an interface to your Nachi FD11 Controller. It utilizes force and torque data obtained from a force sensor to modify robot path or perform other actions during complex assembly or handling processes.

Conveyor Synchronization

Software functionality that allows an NRS robot to accurately perform line tracking with conveyor movement: picking parts off a conveyor while moving.

Endless Rotation

Software developed especially to allow for use on the TT Series Turntables, welding headstocks or with a robot faceplate axis for continuous rotation.

Mechanism By Mechanism Servo On/Off

For use in a robot system which combines a multiple number of mechanisms. This software will allow for a user to individually turn off the servo power of each mechanism, whose operation is not required, without adversely affecting overall operation of the NRS robot.

Fine Motion

Allows for the Nachi FD11 Controller to comprehend multiple points in a program and offer exact control with minimal deviation and increased accuracy.

Modular Robot

Allows the FD11 controller to drive 1-3 external linear axes simultaneously. This option provides simplified control and programming of servo devices.


Allows the user to monitor servo data such as velocity, current, etc., of each robot joint in real time by displaying values in graphical format on the robot teach pendant.


Provides multiple languages on the robot teach pendant: English, Japanese, German, French, Italian, Chinese, Spanish, Korean, Taiwanese, Dutch, Indonesian, Finnish and Thai.