25.2
Connect physical robot
UR

Connect UR to Wandelbots NOVA

⚠️ 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.

Remember to read through the provided safety instructions before you start connecting a physical robot to Wandelbots NOVA. If you have remaining questions, contact Wandelbots GmbH Customer Support.

Supported models

The setup instructions are valid only for the following controllers:

CB series

  • UR5cb
  • UR10cb

E series

  • UR3e
  • UR5e
  • UR10e
  • UR16e
  • UR20e

Setup instructions

Wandelbots NOVA only supports UR e-series controllers with Polyscope version 5.11 or higher, and UR cb-series controllers with Polyscope version 3.15 or higher.

Prepare the UR
Admin

Using the original robot control panel

Configure network settings

  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. Confirm settings.

Activate remote control

  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.

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 (opens in a new tab).

Connect IPC to the 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.

Configure the IPC's network settings

  1. Open https://<ipc-ip-address>: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.

    ⚠️

    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 is successfully connected to the robot.

Congrats! Continue the setup by adding the KUKA robot in the Wandelbots NOVA settings!

Add robot in settings

Troubleshooting

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.

KUKAYaskawa