Wandelbots NOVA API

Add a robot to the cell

• Open the settings app.
• Open the "Cell" tab.

This is the cell on your instance to which the desired robots and communication with other devices or extensions can be established.

Add a robot via Controller >
POST /api/v1/cells/{cell}/controllers.

Use the Examples menu to add the desired robot. Start with a virtual robot named ur5e-bob.

Read TCP information

For further requests concerning the robot, the tool center point (TCP) is required.

Read the currently active TCP via GET /api/v1/cells/{cell}/motion-groups/{motion-group}/tcps.

If the currently active TCP is not the TCP you want to plan the motion with, use Motion Group Infos > List TCPs GET /api/v1/cells/{cell}/motion-groups/{motion-group}/tcps endpoint to get the TCP names available on the robot controller.

Read the current state of the motion group

To get the joint configuration, the cartesian position of a specific TCP or other information concerning the robot state call GET /api/v1/cells/{cell}/motion-groups/{motion-group}/state?tcp={tcp} and replace {motion-group} with the desired motion group and {tcp} with the desired TCP.

To move the robot with Wandelbots NOVA API, you need to plan a motion. The following request plans a movement consisting of two parts: First, the robot will move from its initial joint position to a new joint position. Secondly, it will perform a line motion to a defined cartesian pose.

Plan a motion

The first step is to plan a motion from the robot's current position via the endpoint POST /api/v1/cells/{cell}/motions with start_joint_position representing the current state of the motion group. You can plan one or more motions in a row.

{
  "motion_group": "0@ur5e-bob",
  "start_joint_position": {
    "joints": [1.17, -1.57, 1.36, 1.03, 1.29, 1.28]
  },
  "commands": [
    {
      "joint_ptp": {
        "target_joint_position": {
          "joints": [2.74, -1.57, 1.36, 1.03, 1.29, 1.28]
        }
      }
    },
    {
      "line": {
        "target_pose": {
          "position": {
            "x": 400,
            "y": 0,
            "z": 400
          },
          "orientation": {
            "x": 1.57,
            "y": 0,
            "z": 0
          }
        }
      }
    }
  ],
  "tcp": "Flange"
}

Execute the motion

To execute the planned motion, the robot needs to be moved to the motion's start position via stream to trajectory GET /api/v1/cells/{cell}/motions/{motion}/executetotrajectory.

Replicate motion with Wandelscript

To program the robot using Wandelscript, you first need to write a program that specifies the movements. The following program results in the same motion as the one planned via Wandelbots NOVA API above:

bob = get_controller("ur5e_bob")
do with bob[0]:
    # Move to the initial joint position
    move via joint_p2p() to [1.17, -1.57, 1.36, 1.03, 1.29, 1.28]
    # Move to the second joint position
    move via joint_p2p() to [2.74, -1.57, 1.36, 1.03, 1.29, 1.28]
    # Move in a line to the specified cartesian pose
    move via line() to (400, 0, 400, 1.57, 0, 0)

Once the Wandelscript is written you can send it via the asynchronous endpoint POST /api/v1/cells/{cell}/runners or the synchronous endpoint POST /api/v1/cells/{cell}/execute.

Store program

Create a program in the Robot Pad. All programs created via Robot Pad are automatically stored in the program library.

Open the program library to get a visual overview on all programs stored in the cell.

As the Robot Pad uses the Wandelbots NOVA API, you can also create and store a program using Library Program > Create Program POST /api/v1/cells/{cell}/store/programs.

move via p2p() to [0, 0, 0, 0, 0, 0]
move frame("flange") to [1, 2, 0]
move via line() to [1, 1, 0]
a := planned_pose()

To get an overview of all programs including their identifiers, use Library Program > List Program Metadata GET /api/v1/cells/{cell}/store/programs.

{
  "programs": [
    {
      "id": "5517ecd8-728a-4958-9d86-65a5b38721b6",
      "name": "New Program",
      "created_date": "2024-11-10 11:49:03",
      "last_updated_date": "2024-11-15 24:23:41",
      "is_hidden": false
    }
  ]
}

Keep the program identifier id at hand for the next steps.

Create trigger

Switch over to the Program Operator endpoints and use Create Trigger POST /api/v1/cells/{cell}/operator/triggers to set an OPC UA node as trigger for the program. Replace the program_id with the desired program identifier and the config children with the OPC UA host, node id and node value that has to be reached in order to trigger the program start.

{
  "program_id": "string",
  "enabled": true,
  "type": "opcua_node_value",
  "config": {
    "host": "string",
    "node_id": "string",
    "node_value": "string"
  }
}

Run program

Run the program to ensure that it works as expected. Open Program Operator > Run Program POST /api/v1/cells/{cell}/operator/programs/runs, enter the program identifier and send the API request. This is the endpoint that will be triggered by the physical button.

{
  "program_id": "string"
}

Now push the button in your cell to start the program!