You can run under the debris he throws at you, ninja run to dodge the ground-flames right before he punches the ground, spam dodge buttons when he goes yellow, and parry everything else.
If you manage to cut the debris, it drops 4 nanopastes, save and reload and you will start the fight with those pastes.
That fight really combines all abilities you learn throughout MGR and exposes your weaknesses. I was doing fine in the fight, but I could never cut through the debris. My advice for that section is to switch to scheme B, which changes the left stick to the angle of your cut and the right stick to camera control. You aim the angle by rotating the stick, line up two boxes in the debris, let go of the stick to through the cut. Use the right stick for some minor adjustments.
I ended up fucking up the debris section so much that I ended up perfecting the fight before I even beat it. When I finally got my blade mode skills down, it didn't take too long to come back and get the no damage achievement.