# Connect ABB to Wandelbots NOVA > Learn how to connect ABB robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration. > **Info:** Wandelbots NOVA includes a real-time kernel and `robot-realtime` tuned profile by default to ensure stable robot control and meet timing requirements. Using a ABB with Wandelbots NOVA offers a wide range of possibilities for automating your production processes. There are 3 things you need to know before you start: Which ABB controller types and models are supported by Wandelbots NOVA? [Supported models](#supported-models) Wandelbots NOVA provides you with virtual controllers for path planning, app development and simulation purposes. [Use virtual controller](#use-virtual-controller) You can connect your ABB controller to Wandelbots NOVA for real-world automation. [Set up and connect ABB controller](#set-up-and-connect-abb-controller) ## Supported models ### Controllers | Controller | Supports | Requirements | | - | - | - | | Omnicore | industrial/cobot | Firmware: >= 7.12.0; Option package: External Guided Motion (3124-1) | | IRC5 | industrial | Option package: External Guided Motion (689-1) | | IRC5 compact | industrial | Option package: External Guided Motion (689-1) | ### Motion groups #### Robotic arms **Cobots** | Robot arm | | - | | CRB 15000-10/1.52 | | CRB 15000-12/1.27 | | CRB 15000-5/0.95 | **Industrial robots** | Robot arm | | - | | IRB 1010 0.37/1.5 | | IRB 1100-4/0.475 | | IRB 1100-4/0.58 | | IRB 1200 0.7/7 | | IRB 1300 0.9/11 | | IRB 1300 1.15/10 | | IRB 1300 1.40/12 | | IRB 1300 1.40/7 | | IRB 1600 1.20/10 | | IRB 1600 1.20/6 | | IRB 1600 1.45/10 | | IRB 1600 1.45/6 | | IRB 2600 1.65/12 | | IRB 2600 1.65/20 | | IRB 2600 1.85/12 | | IRB 2600ID 185 15 | | IRB 2600ID 200 8 | | IRB 4600 2.05/45 | | IRB 4600 2.05/60 | | IRB 4600 2.50/20 | | IRB 4600 2.55/40 | | IRB 6730 210/3.1 | | IRB 6730 240/2.9 | | IRB5710-110/2.3 | | IRB5710-70/2.7 LID | | IRB5710-90/2.3 LID | | IRB5710-90/2.7 | | IRB5720-125/3.0 | | IRB5720-155/2.6 LID | | IRB5720-180/2.6 | | IRB5720-90/3.0 LID | #### External axes | External axis | | - | | IRT 710 | ## Use virtual controller ### Step 1: Open the home screen Open your cloud instance via NOVA Cloud or type in your physical instance's/virtual instance's IP address to access the home screen. Get an overview on the home screen and its functionalities [here](/nova/26.8/architecture). ### Step 2: Add robot to your cell If you want to start using the Wandelbots API, do so now and [add a robot via the Wandelbots NOVA API](/nova/26.8/nova-api/overview#add-a-robot-to-the-cell). OR add a robot to your cell in Setup: 1. Open the cell's `Robots` page. → The robot overview is displayed. 2. Click `Add robot` to add a robot to your cell.\ If the `Add robot` button is greyed out, your license might not support adding more robots. Please contact your administrator. → A side panel opens guiding you through adding a robot. → `Virtual` is selected by default. You can also reuse a previous configuration from `Recent connections`. 3. Name the robot. 4. Select `ABB` as manufacturer. 5. Select the desired robot model. 6. Click `Add robot`. → A progress indicator is displayed while the robot is being added to the cell. → The robot is displayed in the cell overview. ### Step 3: Add a TCP To replicate a physical robot's behavior accurately, you can define TCPs for virtual robots in the Setup app. 1. Click on the robot. → The robot's details page is displayed. 2. Use `Manage TCPs`. → A side panel displays all existing TCPs of the robot. → Clicking a physical robot instead shows a `See all TCPs` button: TCPs for physical robot controllers can only be viewed as they need to be configured on the robot controller itself. 3. Use `Add TCP`. → Options to add a new TCP are displayed. 4. Define the TCP's translation and rotation relative to the robot's flange. 5. Save the new TCP. → The new TCP is displayed in the side panel and can be selected in Robot Pad or Visual Studio Code. You've successfully added a virtual robot to plan programs with. Open Robot Pad or download Visual Studio Code and get started ✨. ## Set up and connect an IRC5 controller Cloud instances are not suited to control a physical robot and you need to use a VM or use an IPC instead. More information on available NOVA instance types [here](/nova/26.8/installation/installation#instance-types). ### About setup instructions The provided setup instructions do not replace a thorough understanding of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above. The setup instructions include the following steps: 1. Preparing the robot for the connection with Wandelbots NOVA. 2. Physically connecting the IPC to the robot controller. 3. Using the ABB controller on Wandelbots NOVA: Wandelbots NOVA detects the IPC's network address automatically. 4. Troubleshooting common issues that may arise during the setup process, including configuring the IPC's network settings manually if your installation doesn't support automatic assignment yet. In order to connect the ABB controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these [cell designs](/nova/26.8/setup/cell-design). Ensure that the ABB controller you're about to connect to Wandelbots NOVA is listed in the [supported models](#supported-models) section. Note that setting a correct mounting pose in the robot controller is crucial, especially for cobots, as they are sensitive to gravity direction. > **INFO:** After an EMERGENCY STOP activation, the ABB controller's `SAFETY_STATE_FAULT` mode is activated. To continue, press the white blinking "Motor On" button on the controller. ### Qualified user groups Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise. The following instructions are intended for qualified user groups only. > **⚠️ CAUTION:** **Danger in case of insufficient qualification of users** > > People can be injured if unqualified user groups set up the physical robot environment. > > - Only qualified user groups designated by the operating company may set up the physical robot environment. > - Keep unqualified user groups away from the area of risk. If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header: [Admin] ### Step 1: Prepare the IRC5 [Admin] 1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions. 2. Create a backup of the robot controller. 3. Ensure that the option package External Guided Motion (689-1) is present. 4. Unload all modules with a PROC main() entry and other main entries from all tasks. 5. Make sure controller is in AUTO mode and all safety precautions are taken. ### Step 2: Connect IPC to IRC5 [Admin] **Direct connection** 1. Connect an ethernet cable to the IPC's LAN-1 port.\ The LAN-1 port corresponds to the network port enp3s0 in the IPC network settings unless configured otherwise during the Wandelbots NOVA installation process. 2. Connect the IPC to the robot controller's X2 (service port) port. 3. Turn on the IPC. **via network switch** 1. Connect an ethernet cable to the IPC's LAN-1 port.\ The LAN-1 port corresponds to the network port enp3s0 in the IPC network settings unless configured otherwise during the Wandelbots NOVA installation process. 2. Connect the IPC to the robot controller's LAN3 (X5) port. 3. Open RobotStudio on a personal computer and connect the robot. 4. Log in with Admin credentials. 5. Open the Controller tab in RobotStudio. 6. Go to Configuration > Communication > Static VLAN > X5. 7. Select "LAN". 8. Go to Configuration > Communication > IP Settings. 9. Set the IP address of "LAN3" port within the same subnet as the IPC's LAN-1 port (255.255.255.0). 10. Restart the controller. 11. Turn on the IPC. Wandelbots NOVA can now connect to the robot. By default, it detects which physical port the controller is wired to and assigns it a free address automatically when you [add the robot](#use-irc5-controller-on-nova). If Setup doesn't do this for you, see [Troubleshooting](#i-dont-see-a-guide-me-or-scan-network-button). ### Step 3: Use IRC5 controller on NOVA 1. Type in your physical instance's IP address to access the NOVA OS instance. → The home screen is displayed. 2. Open Setup and, in the sidebar, go to your robot cell's `Robots` page. → The robot overview is displayed. 3. Click `Add robot` to add a robot to your cell.\ → A side panel opens guiding you through adding a robot. If the `Add robot` button is greyed out, your license might not support adding more robots. Please contact your administrator. 4. Toggle to `Physical`. → The side panel updates to display options for adding a physical robot. 5. Use `Guide me` for a step-by-step walkthrough, or use `Advanced options` → `Scan network` if you don't know the controller's IP address. > **Info:** On the previous version of Setup, there's no `Guide me` walkthrough, autofill, or `Scan network`: you need to [configure the IPC's network settings manually](#i-dont-see-a-guide-me-or-scan-network-button) and then enter the controller's IP address, network interface, and controller port manually. > See the [FAQ](/nova/26.8/faq#setup-still-shows-a-previous-version-after-updating) to check which version of Setup your NOVA OS home screen displays. 6. Name the robot. 7. Select `ABB` as the manufacturer. → Under `Robot controller`, a dropdown for port selection depending on the controller type is displayed additionally. 8. Under `Robot controller`, enter the X2 port's (service port) IP address or LAN3 (X5)'s IP address, the host you've gathered during the physical robot setup, and confirm it.\ → Under `NOVA instance`, the NOVA instance's port and corresponding interface IP address to which the robot controller is connected to is autofilled. If you want to use a specific network setup, you can overwrite the autofilled entries. 9. Select the controller port.\ Default values are `80` for IRC5 and `443` for Omnicore controllers. The EGM Server Port is fixed, so you no longer need to give each controller a different port when connecting more than one ABB controller to the same instance. 10. Do not click `Add robot` yet! 11. Set the robot to one of the operating modes: Manual or automatic.\ First time connecting to the robot? You need to set the automatic mode. This also applies in case NOVA assigns a different address than last time. #### Manual mode > **Info:** Operating Wandelbots NOVA with an ABB controller in manual mode is experimental. Use automatic mode wherever possible. 1. Set the robot controller's key switch to manual operating mode. 2. In the side panel, click `Add robot`. Keep the original robot control panel at hand.\ → Wandelbots NOVA verifies that the selected port has a link, that the suggested address isn't already taken, and that the controller answers at its IP. If a check fails, you can fix the input or choose `Add anyway` to continue. → A progress indicator is displayed while the robot is being added to the cell. → The robot is displayed in the cell overview. → Wandelbots NOVA is now configuring the robot controller. During the configuration, you have to grant writing rights via the original robot control panel. 3. Grant every writing rights request on the original robot control panel.\ → Upon successful configuration, the robot controller will be restarted automatically if required. 4. Confirm all errors in the robot's control panel before continuing. 5. Press and hold the Enabling Switch on the robot control panel. 6. Activate Motion Groups using `post /cells/{cell}/motion-groups/all` to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar. #### Automatic mode 1. Set the robot controller's key switch to automatic operating mode. 2. In the side panel, click `Add robot`.\ → Wandelbots NOVA verifies that the selected port has a link, that the suggested address isn't already taken, and that the controller answers at its IP. If a check fails, you can fix the input or choose `Add anyway` to continue. → A progress indicator is displayed while the robot is being added to the cell. → The robot is displayed in the cell overview. → Wandelbots NOVA is now configuring the robot controller. → Upon successful configuration, the robot controller will be restarted automatically if required. 3. Activate Motion Groups using `post /cells/{cell}/motion-groups/all` to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar. #### TCPs To use TCPs for connected physical controllers on NOVA, you need to set them up on the robot controller first. Refer to the original ABB documentation on [how to set up TCPs on the robot controller](https://www.youtube.com/watch?v=vsSfa-enwgw). TCPs will then be displayed on the robot's details page in the Setup app (click `See all TCPs`) and can be selected for path planning in Robot Pad. ## Set up and connect an Omnicore controller Cloud instances are not suited to control a physical robot and you need to use a VM or use an IPC instead. More information on available NOVA instance types [here](/nova/26.8/installation/installation#instance-types). ### About setup instructions The provided setup instructions do not replace a thorough understanding of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above. The setup instructions include the following steps: 1. Preparing the robot for the connection with Wandelbots NOVA. 2. Physically connecting the IPC to the robot controller. 3. Using the ABB controller on Wandelbots NOVA: Wandelbots NOVA detects the IPC's network address automatically. 4. Troubleshooting common issues that may arise during the setup process, including configuring the IPC's network settings manually if your installation doesn't support automatic assignment yet. In order to connect the ABB controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these [cell designs](/nova/26.8/setup/cell-design). Ensure that the ABB controller you're about to connect to Wandelbots NOVA is listed in the [supported models](#supported-models) section. Note that setting a correct mounting pose in the robot controller is crucial, especially for cobots, as they are sensitive to gravity direction. > **INFO:** After an EMERGENCY STOP activation, the Omnicore controller's `SAFETY_STATE_FAULT` mode is activated. To continue, press the white blinking "Motor On" button on the controller. ### Qualified user groups Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise. The following instructions are intended for qualified user groups only. > **⚠️ CAUTION:** **Danger in case of insufficient qualification of users** > > People can be injured if unqualified user groups set up the physical robot environment. > > - Only qualified user groups designated by the operating company may set up the physical robot environment. > - Keep unqualified user groups away from the area of risk. If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header: [Admin] ### Step 1: Prepare the Omnicore controller [Admin] 1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions. 2. Create a backup of the robot controller. 3. Ensure that the option package External Guided Motion (3124-1) is present. 4. Unload all modules with a PROC main() entry and other main entries from all tasks. 5. Make sure controller is in AUTO mode and all safety precautions are taken. ### Step 2: Connect IPC to the Omnicore controller [Admin] **Direct connection** 1. Connect an ethernet cable to the IPC's LAN-1 port.\ The LAN-1 port corresponds to the network port enp3s0 in the IPC network settings unless configured otherwise during the Wandelbots NOVA installation process. 2. Connect the IPC to the Omnicore controller's X23 port. 3. Turn on the IPC. **via network switch** 1. Connect an ethernet cable to the IPC's LAN-1 port.\ The LAN-1 port corresponds to the network port enp3s0 in the IPC network settings unless configured otherwise during the Wandelbots NOVA installation process. 2. Connect the IPC to the robot controller's X23 port. 3. Open RobotStudio on a personal computer and connect the robot. 4. Log in with Admin credentials. 5. Request write access. If the robot is in manual mode, writing access needs to be granted at the original robot control panel. 6. Go to Select Properties `→` Network Settings `→` Public Network. 7. Set the IP address, the subnet mask and the gateway according to your network setup. 8. Go to Configuration > Communication > Firewall Manager. 9. Enable access to the public network for the RobotWebService and UDPUC. 10. Select Authenticate `→` Edit user accounts. If this option is greyed out, your user account does not have sufficient rights. Switch to an admin account. 11. Edit the role of the default user and enable the following checkbox in the Grants section: - Remote Start and Stop in Auto 12. Apply the changes. 13. Restart the controller. 14. Turn on the IPC. Wandelbots NOVA can now connect to the robot. By default, it detects which physical port the controller is wired to and assigns it a free address automatically when you [add the robot](#use-omnicore-controller-on-nova). If Setup doesn't do this for you, see [Troubleshooting](#i-dont-see-a-guide-me-or-scan-network-button). ### Step 3: Use Omnicore controller on NOVA 1. Type in your physical instance's IP address to access the NOVA OS instance. → The home screen is displayed. 2. Open Setup and, in the sidebar, go to your robot cell's `Robots` page. → The robot overview is displayed. 3. Click `Add robot` to add a robot to your cell.\ → A side panel opens guiding you through adding a robot. If the `Add robot` button is greyed out, your license might not support adding more robots. Please contact your administrator. 4. Toggle to `Physical`. → The side panel updates to display options for adding a physical robot. 5. Use `Guide me` for a step-by-step walkthrough, or use `Advanced options` → `Scan network` if you don't know the controller's IP address. > **Info:** On the previous version of Setup, there's no `Guide me` walkthrough, autofill, or `Scan network`: you need to [configure the IPC's network settings manually](#i-dont-see-a-guide-me-or-scan-network-button) and then enter the controller's IP address, network interface, and controller port manually. > See the [FAQ](/nova/26.8/faq#setup-still-shows-a-previous-version-after-updating) to check which version of Setup your NOVA OS home screen displays. 6. Name the robot. 7. Select `ABB` as the manufacturer. → In the robot controller section, a dropdown for port selection depending on the controller type is displayed additionally. 8. As the controller IP address in the robot controller section, enter the X23 port's (service port) IP address or LAN3 (X5)'s IP address, the host you've gathered during the physical robot setup, and confirm it.\ → The NOVA instance's port and corresponding interface IP address to which the robot controller is connected to is autofilled. If you want to use a specific network setup, you can overwrite the autofilled entries. 9. Select the controller port.\ Default values are `80` for IRC5 and `443` for Omnicore controllers. The EGM Server Port is fixed, so you no longer need to give each controller a different port when connecting more than one ABB controller to the same instance. 10. Do not click `Add robot` yet! 11. Set the robot to one of the operating modes: Manual or automatic.\ First time connecting to the robot? You need to set the automatic mode. This also applies in case NOVA assigns a different address than last time. #### Manual mode > **Info:** Operating Wandelbots NOVA with an ABB controller in manual mode is experimental. Use automatic mode wherever possible. 1. Set the robot controller's key switch to manual operating mode. 2. In the side panel, click `Add robot`. Keep the original robot control panel at hand.\ → Wandelbots NOVA verifies that the selected port has a link, that the suggested address isn't already taken, and that the controller answers at its IP. If a check fails, you can fix the input or choose `Add anyway` to continue. → A progress indicator is displayed while the robot is being added to the cell. → The robot is displayed in the cell overview. → Wandelbots NOVA is now configuring the robot controller. During the configuration, you have to grant writing rights via the original robot control panel. 3. Grant every writing rights request on the original robot control panel.\ → Upon successful configuration, the robot controller will be restarted automatically if required. 4. Acknowledge all errors in the robot's control panel before continuing. 5. Press and hold the Enabling Switch on the robot control panel. 6. Activate Motion Groups using `post /cells/{cell}/motion-groups/all` to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar. #### Automatic mode 1. Set the robot controller's key switch to automatic operating mode. 2. In the side panel, click `Add robot`.\ → Wandelbots NOVA verifies that the selected port has a link, that the suggested address isn't already taken, and that the controller answers at its IP. If a check fails, you can fix the input or choose `Add anyway` to continue. → A progress indicator is displayed while the robot is being added to the cell. → The robot is displayed in the cell overview. → Wandelbots NOVA is now configuring the robot controller. → Upon successful configuration, the robot controller will be restarted automatically if required. 3. Activate Motion Groups using `post /cells/{cell}/motion-groups/all` to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar. #### TCPs To use TCPs for connected physical controllers on NOVA, set them up on the robot controller. Refer to the original ABB documentation on [how to set up TCPs on the robot controller](https://www.youtube.com/watch?v=vsSfa-enwgw). TCPs will then be displayed on the robot's details page in the Setup app (click `See all TCPs`) and can be selected for path planning in Robot Pad. ## Troubleshooting ### Find the X2 port IP address In Setup on the NOVA instance, this IP address is called `Host`. _Using the original robot control panel_ 1. Open System Info `→` Controller Properties `→` Network connections `→` Service port.\ → The X2 port's (service port) IP address as well as its subnet are displayed. You'll need this IP address to add the ABB to the virtual cell on Wandelbots NOVA. ### Find the LAN3 (X5) port IP address In Setup on the NOVA instance, this IP address is called `Host`. _Using RobotStudio_ 1. Open RobotStudio and connect to the robot. 2. Go the Controller tab. 3. Go to Configuration > Communication > IP settings.\ → The LAN5 (X5) port's IP address as well as its subnet are displayed. You'll need this IP address to add the ABB to the virtual cell on Wandelbots NOVA. ### I don't see a Guide me or Scan network button. This means your NOVA OS installation hasn't been updated to a backend version that supports automatic network configuration yet, so Setup still shows its previous version. See the [FAQ](/nova/26.8/faq#setup-still-shows-a-previous-version-after-updating) for more information. Until then, configure the IPC's network settings for the LAN-1 port manually: **Direct connection** 1. Open `https://:9090`, e.g. `https://172.345.538.2:9090`, in a browser on your personal computer.\ If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open `localhost:9090` in a web browser. > **Warning:** Only one personal computer is allowed to connect to the instance's IP address. > In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move. > > - Close all applications on other personal computers and try again. > - Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again. 2. Log in with the user credentials created during the Wandelbots NOVA installation.\ → The IPC's settings are displayed. → A popup prompts you to enable administrative access. 3. Enable administrative access and enter the admin password. 4. Select the Network tab in the sidebar.\ → The IPC's network settings are displayed. 5. Toggle the button next to the `enp3s0` port (corresponding to the IPC's LAN-1 port) to enable network activity. 6. Click `edit` next to the IPv4.\ → The IPv4 menu opens. 7. Set the address dropdown to `Manual`. 8. Add the controller's service port IP address (always 192.168.125.1, for both IRC5's X2 and Omnicore's X23) but change the last digit to a number between 2 and 255, e.g. 192.168.125.7. 9. Set the prefix to 255.255.255.0 (will automatically change to 24). 10. Delete the prefilled gateway value. 11. Save the settings. **via network switch** 1. Open `https://:9090`, e.g. `https://172.345.538.2:9090`, in a browser on your personal computer.\ If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open `localhost:9090` in a web browser. > **Warning:** Only one personal computer is allowed to connect to the instance's IP address. > In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move. > > - Close all applications on other personal computers and try again. > - Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again. 2. Log in with the user credentials created during the Wandelbots NOVA installation.\ → The IPC's settings are displayed. → A popup prompts you to enable administrative access. 3. Enable administrative access and enter the admin password. 4. Select the Network tab in the sidebar.\ → The IPC's network settings are displayed. 5. Toggle the button next to the `enp3s0` port (corresponding to the IPC's LAN-1 port) to enable network activity. 6. Click `edit` next to the IPv4.\ → The IPv4 menu opens. 7. Set the address dropdown to `Manual`. 8. Create an IP address that is in the same subnet as the robot's IP address (255.255.255.0), e.g. 172.345.**255**.2. 9. Set the prefix to 255.255.255.0 (will automatically change to 24). 10. Delete the prefilled gateway value. 11. Save the settings. Wandelbots NOVA can now connect to the robot. Enter this address as the EGM Server IP address when adding the robot. ### Find the EGM server IP address By default, this is the address Wandelbots NOVA assigns automatically to the port the controller is wired to when you add the robot. If you assigned the address yourself instead, it's the IP address you created in the IPC's network settings for the LAN-1 port during [this step](#i-dont-see-a-guide-me-or-scan-network-button). ### Connection issues Resolve connection issues by referring to the [FAQ section on robot connectivity](/nova/26.8/faq#wandelbots-nova-instance-is-physically-connected-to-the-robot-but-the-robot-is-not-moving).