From a diversified Japanese heavy-industry group — NACHI robots, the full series

The main controller series disclosed on the official website include the FD series (FD11/FD18, with FlexGUI teaching software, plus the FD On Desk desktop version), CFD, and CFDS series. Older models mostly used CFD/CFDS control cabinets, while since 2015, new models have commonly adopted FD controllers. The method of differentiation is to check the control cabinet nameplate model and the teaching software interface (FlexGUI is FD series). Spare parts and program formats are not interchangeable across generations; upgrades and upgrades require evaluating the compatibility of the encoder interface.

Common issues: insufficient battery power of the main encoder (loss of origin data after long-term power outage), encoder cable wear (especially inside the J1/J2 drag chain), and moisture contamination of the motor-side encoder. You can first check the battery voltage inside the control cabinet and perform the origin reset procedure; If recurring occurs, combine on-site diagnosis to confirm cable continuity and encoder body status, and if necessary, perform oscilloscope-level signal detection.

A common practice is to set cycles based on operating hours and lubrication status: RV reducers typically undergo an initial grease change of 1000-2000 hours, followed by intervals of 8000-10000 hours or a year (first come, first served); Harmonic reducers are mostly managed according to the manufacturer's grease lifespan. The specific cycle varies with load rate and start/stop frequency, based on actual operating conditions and the NACHI random maintenance manual. Abnormal noises, temperature rise, and increased backlash are preemptive maintenance signals.

Common faults in FD-type teaching boxes include aging of membrane buttons, poor contact of LCD screen flex cables, and failure of micro switches in the emergency stop circuit. You can back up the program before removing the inspection cable; Emergency stop circuit faults will trigger servo alarms; do not short-circuit emergency stop during use. If the teach pendant shows no display at all, check the power supply circuit inside the control cabinet and recommend on-site diagnosis.

These situations are mostly related to aging of the driver module capacitor or fan shutdown causing overheating. CFDS control cabinets are quite old, with modules repairable but spare parts tending to be discontinued; If there is no burnt smell and only an overtemperature alarm, you can clean the air duct and replace the fan first. If protective components or PCB carbonization occur, an overall assessment is recommended, and controller upgrades (retaining the body and motor) may be considered.

MZ samples are marked with protection rating IP67 equivalent (dust and liquid resistance), which can withstand cutting fluid splashes but does not guarantee submersion. When installing upside down, pay attention to the direction of the wrist oil seal and the wiring seal; Models exposed to high-pressure spraying for extended periods require a protective cover and shortened lubrication and maintenance intervals.

Recommended tests: full-axis zeroing and positioning accuracy retest (repeat positioning with laser tracker or dial indicator), abnormal noise and backlash on each axis, reducer temperature, cable and battery status, program and parameter backup integrity, teach pendant emergency stop and safety loop function verification. For spot welding SRA series, also check for wear on the wrist through-hole cable pack. Be cautious with devices that cannot be powered on or are password-locked.