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Core conceptsUnified controller interface

Unified controller interface

Wandelbots NOVA provides access to two types of controllers, physical and virtual. Physical controllers connect to robot hardware from manufacturers like ABB, FANUC, KUKA, UR, and Yaskawa. Virtual controllers simulate physical controllers in software.

Both are accessed through the NOVA controller API where you can individually configure them. Your application code works with both virtual and physical controllers. Only the controller identifier changes when switching between virtualization and production.

Development workflow

Develop with virtual controllers

Build and test application logic without hardware constraints or safety concerns. Use for development, testing, offline programming, and digital twins.

Clone physical configurations

Copy your physical controller configuration to a virtual controller to create an exact digital twin. Test configuration changes and application updates safely.

Deploy to physical controllers

Switch from virtual clone to physical robot by changing the controller identifier in your requests. Follow the robot setup guidelines to connect your physical robot hardware to NOVA.

Motion behavior

While you’re using the same endpoint for both controller types, their motion behavior differs.

Virtual controllers execute with idealized motion. Commands execute instantly, trajectories follow planned paths exactly, and round-trip latency is approximately 30ms.

Physical controllers exhibit real-world constraints. Motion depends on manufacturer-specific controller cycle times, mechanical inertia, and safety systems. Round-trip latency ranges from 100-300ms depending on the manufacturer.

Use the external joints stream to inject custom motion behavior from external simulators into virtual controllers.

Virtual controller endpoints

Virtual controllers mimic physical controllers. The unified controller interface provides access to core robot control functions. Virtual Controller endpoints replace teach pendant functionality like

  • Configuring tool center points (TCPs) and payloads
  • Setting operation mode and emergency stop state
  • Writing IOs

Virtual controllers also offer extended capabilities via the Virtual Controller Behaviour API where you can modify cycle time and inject custom motion behavior from external sources like simulators.

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