> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/nachi.md).

# Nachi

Nachi robots aren't natively supported yet, but can be connected through a PLC or OPC UA.

Nachi robots aren't natively supported in the Integration Flow yet, but you can already connect them through a [PLC](/docs/overview/hands-on/integrating-your-robot/integration-flow/plcs.md) or over [OPC UA](/docs/overview/hands-on/integrating-your-robot/integration-flow/protocols/opc-ua.md).

## Coordinate convention

Nachi uses the **KUKA (rzyx)** rotation convention. Select it in the Product UI settings at `http://[serial-number].local:3000/settings`, so poses arrive in the form your Nachi robot program expects. See [Coordinate Conventions](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).

{% hint style="info" %}
Want native Nachi support? Let us know at <support@captic.com>, so we can prioritise it.
{% endhint %}