26.3 - April 2026

We skipped the pranks this April and shipped improvements instead.

BREAKING CHANGES

New feedback type for Plan Trajectory

FeedbackNoSolutionInCurrentConfigurationew is a new feedback type for the endpoint Plan trajectory  that is returned on error and may need to be handled manually within user code. When checking for the types of PlanTrajectoryFailedResponse, FeedbackNoSolutionInCurrentConfigurationew must be included.

This remedies the previous issue for cartesian ptp movements when FeedbackOutOfWorkspace was shown, but the Inverse Kinematics endpoint could still find joint solutions that could be executed.

What’s new?

Supported robots

Added support for 8 new robot(s):

ABB

• ABB IRB5710-110/2.3
• ABB IRB5710-70/2.7 LID
• ABB IRB5710-90/2.3 LID
• ABB IRB5710-90/2.7
• ABB IRB5720-125/3.0
• ABB IRB5720-155/2.6 LID
• ABB IRB5720-180/2.6
• ABB IRB5720-90/3.0 LID

For an up to date overview of all supported controllers and motion groups (robotic arms and external axes), refer to the Compatibility section.

New experimental endpoint allowing for multiple motion groups

The endpoint Search collision-free trajectories for multiple motion groups   is the multi-robot variant of a collison-free path search. It searches collision-free trajectories for multiple motion groups simultaneously within a cell.

New Virtual controller endpoints

The endpoints Add  and Delete  safety zone, under Virtual controller, have been created to allow clients to add or remove safety zones from the virtual robot controller. This is done by inputting the unique identifier of the safety zone that should be added or removed.

What’s better?

Settings app: Delete all signals at once, pagination and sorting

In the Industrial Bus Protocols settings, you can now delete all signals at once. Also available are new pagination controls, allowing you to navigate through signals more efficiently. Additionally, the interface now supports sorting and filtering of signals.

Additional info for Update Configuration endpoint

The API Documentation has been revised to include clearer instructions for Update Configuration .

NOVA API: Increase payload of Profinet integration

For PROFINET variable endpoints, it is now possible to specify the number and size of slots. First, this is configured in NOVA and then a configuration file can be downloaded for further usage.

More specifically, after configuring the BUS-IOS service in NOVA the downloaded file ca be used in TIA  in order to configure the NOVA PROFINET device in the PLC.

For example, an affected endpoint such as Get service  now has the parameter ‘slots’ containing ‘number’, ‘input_size_bytes’, and ‘output_output_bytes’.

Updated naming conventions for PROFINET

To increase salience and clarity, information on PROFINET naming conventions has been added.

This can be found in the Profinet documentation. In upcoming releases, this information will be added to the BUS IO endpoints.

Home screen: API v2 is now the default API version

The API icon on the homescreen now points to API v2 instead of prompting a choice between API v1 and v2. This change occurs in the context of the deprecation of API v1.

New features for direction constrained planning

Several updates have been made to accomodate direction constrained planning better. This includes a new endpoint and new parameters for existing endpoints.

Plan trajectory  now has new motion types ‘DirectionConstrainedCartesianPTP’ and ‘DirectionConstrainedJointPTP’. These are PTP motions to either a cartesian pose or joint position while the end effector stays aligned with a certain direction.

Plan collision-free trajectory  now has an optional parameter called ‘constraint’. This so far only has the option ‘DirectionConstraint’ and is only available for RRT.

Project joint position direction constraint  is a helper endpoint that aids in projecting joint positions to satisfy direction constraints.

These new features are currently only supported for industrial (ortho-parallel with spherical wrist) and UR robots.

Bug fixes

• Improved signal data fetching: Fetching signal data for industrial bus protocols is now more reliable, with requests being batched to prevent errors related to excessively long URLs. This change enhances the stability and performance of data retrieval operations.

Corrected error message for Forward kinematics

This bug fix adds a proper error message to the Forward kinematics endpoint  when called with a joint vector of invalid length. Now when calculating forward kinematics using this endpoint, in the case that the wrong number of joints is given, an error message will appear instead of an arbitrarily high number.

Fixed robot collisions

Fixed false detection of collisions in certain joint states on ABB IRB 4600-250-40.

On their final mission

Bon voyage to Wandelscript and Wandelbots NOVA API v1

Technical details

Updated KUKA .kop file

The KUKA custom option package has been updated to version 2.5.2. Please download the latest version of the .kop file from the Developer Portal’s Downloads section and update your controller accordingly to ensure compatibility with Wandelbots NOVA 26.3.

Documentation

• Added information on how to transfer a simulation to the physical setup
• Added information on automatically activated motion groups in the respective robot setup pages
• Removed Wandelscript and NOVA API v1 related content across the documentation. Migration guides are available for both, and the documentation has been updated to reflect the changes.

Information on executing trajectories using Python script

The FAQ and Build a scene pages have been updated to reflect relevant information for you to execute trajectories by way of articulation controllers using Python script.

This increases imperative knowledge to let you have better flexibility implementing your projects.

Add parallel gripper subsection

Under Simulation, a new subsection in Build a scene has been added called Add parallel gripper. This covers some integral aspects of configuring a parallel gripper in a scene.