UR

Open the home screen

Open your cloud instance via the Developer Portal 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.

Create a cell in the settings

Open the settings app and go to the "Cell" tab.

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.

OR add a robot to your cell in the settings:

• Select the "Robots" tab.
• Click to add a robot to your cell.
  If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
• Select the robot type Virtual.
  Adding a physical robot will only work after successful setup.

• Name the robot
• Select UR as manufacturer.
• Select the desired robot model.
• Add the robot to the cell.

Prepare 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 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 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 can now connect to the robot.

Use UR controller on NOVA

1. Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen.
2. Open the settings app and go to the "Cell" tab.
3. Select the "Robots" tab.
4. Click to add a robot to your cell.
   If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
5. Select the robot type Physical.
6. Name the robot
7. Select UR as manufacturer.
8. Enter the robot's IP address or host name.
   ℹ️

   Ensure that the UR's control mode is set to Remote Control. More information in the original manufacturer's user manual.

9. Click on Add.
10. 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.