# Connect UR to Wandelbots NOVA > Learn how to connect Universal Robots cobots 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 UR 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 UR 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 UR controller to Wandelbots NOVA for real-world automation. [Set up and connect UR controller](#set-up-and-connect-ur-controller) ### Controllers | Controller | Supports | Requirements | | - | - | - | | Control Box | cobot | Firmware: PolyScope >= 3.15.0 | | Control Box e-Series | cobot | Firmware: PolyScope 5.11 to 5.26 | ### Motion groups #### Robotic arms **Cobots** | Robot arm | Controller | | - | - | | UR10 CB | Control Box | | UR10e | Control Box e-Series | | UR12e | Control Box e-Series | | UR15 | Control Box | | UR16e | Control Box e-Series | | UR20e | Control Box e-Series | | UR3e | Control Box e-Series | | UR5 CB | Control Box | | UR5e | Control Box e-Series | | UR7e | Control Box e-Series | ## 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 `UR` 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. Click `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 here, not added, since 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. 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 UR 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 UR 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 UR 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 UR 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. ### 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 UR [Admin] ### Step 2: Install URCaps To use Wandelbots NOVA, you need to install a custom URCaps file on the UR controller. > **Info:** As the Wandelbots NOVA URCaps file relies on the default UR root password for communication, > the installation of the URCaps file has to be done manually for UR controllers running PolyScope 5.22 or greater, > as these versions require a custom root password to be set up during the initial robot setup. > This is a requirement that is currently not supported by Wandelbots NOVA. 1. Ensure that the UR controller and the machine you're using are connected to the same network. 2. Ping the robot controller's IP address to check that it is reachable.\ If the ping fails, check the network connection and the robot controller's IP address. 3. Download the custom Wandelbots URCaps file from [Downloads](/nova-cloud/downloads) in NOVA Cloud. > **Info:** The URCaps file is named `UniversalRobotsServer-[version].jar`. > To find out which URCaps version is compatible with your Wandelbots NOVA version, refer to the [Compatibility section](/nova/26.8/compatibility#with-custom-files-for-robot-setups). 4. Upload the file to the robot controller. **Linux** Change into the folder where the file, e.g., `UniversalRobotsServer-1.6.0.jar`, is located, then run: ```bash scp UniversalRobotsServer-1.6.0.jar root@192.168.0.72:~/.urcaps/ # replace the IP address with the robot controller's IP ``` **Windows** Use PuTTY to connect via SSH to the UR controller. Then use PuTTY Secure Copy Client to copy the file, e.g., `UniversalRobotsServer-1.6.0.jar`, onto the UR controller: ```powershell pscp UniversalRobotsServer-1.6.0.jar root@192.168.1.1:.urcaps # replace the IP address with the robot controller's IP ``` 5. Reboot the UR controller.\ → The URCaps file is now installed. > **Warning:** Wandelbots NOVA officially supports and validates only the Wandelbots URCaps file described above. Installing an additional third-party URCap on the same controller, e.g., a gripper vendor's URCap, hasn't been validated and may cause conflicts. > > If a third-party URCap exposes its signals through the UR controller's I/O model, Wandelbots NOVA can read and set them like any other [controller I/O signal](/nova/26.8/setup/io-signals#grippers-and-third-party-devices). Wandelbots Customer Success is happy to help you check compatibility for your specific setup before installing a third-party URCap. #### Configure network settings _Using the original robot control panel_ 1. Turn on robot controller according to the robot manufacturer's original operating instructions. 2. Set robot to local mode. 3. Open main menu. 4. Open settings. 5. Select System > Network > `Static address`. 6. Enter the robot controller's IP address, e.g. 192.168.1.100, into the `IP address` field. This IP address has to be within the same subnet as the IPC's IP address but can otherwise be set as desired. 7. Enter the subnet mask 255.255.255.0.\ This ensures that the robot controller and the IPC are in the same subnet. 8. Apply settings. 9. Select `Security` \&arr; `General`. 10. Clear both text fields within the `Inbound Connections` category.\ This ensures that NOVA can reach the robot controller without any restrictions. #### Activate remote control _Using the original robot control panel_ 1. Turn on robot controller according to the robot manufacturer's original operating instructions. 2. Open main menu > system settings. 3. Select System > Remote Control. 4. Activate Remote Control. 5. Switch to Remote Control in the home screen.\ → Remote Control connection will now be established. This can take a few minutes. → Upon successful remote control connection, the robot controller is rebooted and URCaps installed. > **Info:** While unlikely, the robot may [lock up unexpectedly and need to be restarted](#did-i-damage-the-ur-robot-during-setup) for further use. → The robot controller was successfully set up for Wandelbots NOVA. #### Configure payload and TCP To enable maximum acceleration and speed in path planning, the payload and TCP have to be correctly configured on the robot controller. Configure the payload and TCP on the UR [with this tutorial](https://www.youtube.com/watch?v=YnC-ccytJlw). ### Step 3: Connect IPC to robot controller [Admin] 1. Connect an ethernet cable to the IPC's LAN-1 port. 2. Connect the IPC to the robot controller's network port. 3. 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-ur-controller-on-nova). If Setup doesn't do this for you, see [Troubleshooting](#i-dont-see-a-guide-me-or-scan-network-button). ### Step 4: Use UR controller on NOVA 1. Set the UR's control mode to Remote Control. More information in the original manufacturer's user manual. 2. Type in your physical instance's IP address to access the NOVA OS instance. → The home screen is displayed. 3. Open Setup and, in the sidebar, go to your robot cell's `Robots` page. → The robot overview is displayed. 4. 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. 5. Toggle to `Physical`. → The side panel updates to display options for adding a physical robot. 6. 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. 7. Name the robot. 8. Select `UR` as manufacturer. 9. Under `Robot controller`, enter the robot controller's IP address 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. 10. Click on `Add robot`.\ → Wandelbots NOVA verifies that the selected port has a link, that the assigned 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. 11. 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 Universal Robots documentation on [how to set up TCPs on the robot controller](https://www.universal-robots.com/manuals/EN/HTML/SW5_24/Content/prod-usr-man/software/PolyScope/content/installation_g5/installation_TCP_configuration_en.htm). 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 ### 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: 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 when adding the robot. ### Find the UR's IP address _Using the original robot control panel_ 1. Set robot to local mode. 2. Open the main menu. 3. Go to Settings > System > Network.\ → The controller's IP address corresponding to the network port is displayed. ### I can't connect the IPC to the robot controller Wandelbots NOVA can only communicate with UR, if the controller root password is `easybot`. Set the robot controller root password to `easybot` according to the robot manufacturer's original operating instructions. ### Connection from robot controller cannot be established. The UR is not moving. Option 1: The remote control is not activated on the robot controller. 1. Switch on remote control on the robot controller by using the original robot control panel. Option 2: The IPC's IP address is not within the same subnet as the robot controller. 1. Configure the robot controller's IP address and ensure that the IPC's IP address is part of the same subnet. [Wandelbots Customer Success](https://www.wandelbots.com/contact) is happy to assist you with this. Option 3: The robot controller is blocking network traffic from the IPC. 1. Clear the `Inbound Connections` fields on the `Settings` \&arr; `Security` \&arr; `General` tab. This ensures that NOVA can reach the robot controller without any restrictions. ### Did I damage the UR robot during setup? It is possible that while connecting NOVA to a robot, and after installing the URCaps, the robot could lock up. This can cause unexpected movement and sound when locking. 1. The robot is not damaged. Restart and continue as needed. ### 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).