Wandelbots NOVA

Type to search the documentation

Press ESC to close⌘K to open

FAQ

Last updated: August 19, 2026

Find answers to common questions about Wandelbots NOVA. Learn about supported software, how to avoid singularities, and other frequently asked topics.

Which browsers are supported by Wandelbots NOVA?

Wandelbots NOVA is compatible with the following browsers:

  • Chrome
  • Safari
  • Edge
  • Firefox

Can I select a partition during the installation of Wandelbots NOVA?

No, there is currently no support to select partitions during the installation process of Wandelbots NOVA. Please contact our customer support if you need to install Wandelbots NOVA on a specific partition.

What hardware do I need for multiple robot controllers?

The minimum system requirements (4 CPU cores, 8 GB RAM, 50 GB storage) apply to a setup with one connected robot controller. When connecting additional controllers, scale hardware resources accordingly:

  • CPU: add capacity for the additional real-time services per controller.
  • RAM: add headroom for each controller’s runtime and the planner workload.
  • Storage: add space for additional logs, configurations, and program data.

For production deployments with multiple controllers, contact Wandelbots Customer Success for a sizing recommendation tailored to your cell.

Do I need a special NIC or PROFINET card for PROFINET integration?

No. PROFINET communication works over standard network interfaces, and no dedicated PROFINET card is required.

For production setups, especially real-time or near-real-time scenarios such as PROFINET communication, robot control, or coordinated motion of multiple robots, use an SR-IOV-capable NIC to reduce latency, jitter, and network stack overhead. See SR-IOV-capable network interfaces for details.

How do I update Wandelbots NOVA?

  1. Open Setup on your instance.
  2. In your cell, go to “Configurations” at the top.
  3. Export the current configuration within the section and save the configuration file on your computer.
  4. Open the system settings on your instance.
  5. Click on “Update”.
    Existing configurations are deleted during the update.
  6. Import the configuration file you saved in step 3.

Wandelbots NOVA updates fail

  1. Use Get Network State to check if the internet connection is active.
    If internet_connected: false, the internet connection is down.
  2. Check the internet connection, verify cable on internet port, check router/gateway.

Where do I find my NOVA installation’s IP address?

  1. Connect a screen and keyboard to the IPC.
  2. Log in with the credentials configured during the installation.
  3. Enter ip a into a terminal.
  4. Find the IP address that is listed under the network port chosen during setup. This network port is usually enp3s0 (LAN1).

Wandelbots NOVA instance is physically connected to the robot, but the robot is not moving.

Ensure that the IPC’s IP address and the robot’s IP address are within the same subnet. Ensure that the IPC port used to connect to the robot is active in the network settings.

  1. Connect a screen and keyboard to the IPC. Alternatively, you can connect your computer to the same WiFi that the IPC is connected to.
  2. Open http://<instance's IP address>:9090.
  3. Log in with the user credentials created during setup or provided by Wandelbots GmbH.
  4. Activate the Administrator Mode.
  5. Open the network settings and change the network settings to enp3s0 (LAN1).
  6. Connect the robot to the IPC via the LAN1 port.

“No robot available” is displayed in Robot Pad

  1. Use Get Network Interfaces to verify that the robot ethernet port is listed.
    If it’s not listed, the robot ethernet port is not connected.
  2. Connect a network cable to the robot ethernet port.

Unstable connections to robot controllers

  1. Use ARP Scan to check for IP conflicts in the network.
    If two devices have the same IP address, there is an IP conflict.
  2. Reconfigure one of the devices to resolve the IP conflict.

Wandelbots NOVA cannot connect to the robot controller

  1. Use Get Network Interfaces to verify that the expected interface is listed.
    If the expected interface is missing, the physical port might be misconfigured.
  2. Check which physical port should be used and verify its configuration. If it doesn’t have an IP assigned (DHCP or static), assign one.

Connection not established error upon connecting the robot controller

  1. Restart the robot controller and try again. Especially during the first Setup, this is a common issue that can be resolved with a restart.
  2. If the problem persists, check that the robot controller is in the correct state for remote control. Refer to the robot setup instructions for more details.
  3. Check that the robot controller is properly connected to the IPC via the correct port.

How can I avoid singularities?

If your robot is constantly running into singularities, there are a few things you can try to avoid them.
In general, remedies for singularities depend on the robot’s geometries, model, and mounting position.

The following tips can help you avoid singularities, but are not guaranteed to work for every robot model:

  1. Depending on the mounting, you can use joint_p2p movements instead of cartesian poses as support points to ensure that the robot has a wider range of movement. In this example, the robot was mounted on the wall and using joint_p2p movements helped to avoid singularities. 
    PLACE_1 = (452.2, -12.1, 132, 3.1, 0.0, 0.0)
HOME_J = (1.3950, 0.6053, 0.3194, 0.0089, 0.6564, 1.3092)

do with ur10e[0]:
   move tcp via p2p() to PLACE_1 :: (0, 0, -50, 0, 0, 0)
   move tcp via p2p() to  (0, -200, 0, 0, 0, 0) :: SCANNER
   move tcp via joint_p2p() to HOME_J
   move tcp via p2p() to PICK_1 :: (0, 0, -50, 0, 0, 0)
   move tcp via p2p() to PICK_1 :: (0, 0, -5, 0, 0, 0) with velocity(50)
   ur10e_open_gripper()
  2. Using p2p movements helps to avoid singularities. Of course, this also comes with the drawback that the anticipated line or circle movement might no longer be followed. 
    PLACE_1 = (452.2, -12.1, 132, 3.1, 0.0, 0.0)
HOME_J = (1.3950, 0.6053, 0.3194, 0.0089, 0.6564, 1.3092)

do with ur10e[0]:
   move tcp via p2p() to PLACE_1 :: (0, 0, -50, 0, 0, 0)
   move tcp via line() to PLACE_1 with velocity(50)
   ur10e_open_gripper()
  3. Lines and circles are rather restrictive for the robot’s movement. So use them only when absolutely necessary for the process.
  4. Mount tools at an angle (~30 degrees) so that the tool’s TCP z axis is not within or parallel to the flange’s z-axis, especially for symmetrical tools. This minimizes running into singularities.

Some robot manufacturers provide additional information on how to avoid singularities in their online documentation. Here’s an article from UR on the topic.

Does Wandelbots NOVA impact robot controller safety functions?

No.

Wandelbots NOVA does not replace or interfere with robot controller safety functions. Safety functions will operate the same way, whether or not Wandelbots NOVA is in use.

Robots (both cobots and industrial) will remain compliant with their preexisting safety standards.

For questions on safety compliance, contact Wandelbots Customer Success.

My system crashed after installing the Isaac Sim extension. What can I do?

It is possible that if you immediately install the Isaac Sim extension after installing the USD extension, a system crash may occur.

  1. Restart Isaac Sim.

Wandelbots NOVA license

How do I get a Wandelbots NOVA license?

Request your Wandelbots NOVA license by contacting Wandelbots Customer Success.

I have problems activating my Wandelbots NOVA license.

If you have problems activating your Wandelbots NOVA license, check your license state in the NOVA system settings. If you are familiar with the Wandelbots NOVA API, you can also check on the license status via the API License endpoint. Should the issue persist, please contact Wandelbots Customer Success.

How do I upgrade my Wandelbots NOVA license?

If you want to switch to another Wandelbots NOVA license plan, please contact Wandelbots Customer Success.

Make sure to export all existing cell configurations and robot programs before upgrading your license. This ensures that you can restore your data in case of any issues during the license activation.

NOVA Cloud

Questions about accounts, cloud instances, licenses, downloads, and feedback are answered in the NOVA Cloud FAQ.

Setup app

What can I add to a cell?

  • Robot: Add a virtual or physical robot to the cell.

Learn how to establish communication to an OPC UA server.

Robot Pad

Why is the robot displayed beneath the plane in 3D view?

The displayed grid represents the zero plane of the coordinate system.

Why do I no longer see the Wandelscript code editor, a.r.c., and the logs?

Wandelscript has been deprecated thus the code editor, a.r.c., and logs related to Wandelscript have been removed from Robot Pad. Please use the Python SDK for programming your robot.

API

My robot pauses between trajectories. What do I have to do?

By default, a robot controller only stays in control mode for as long as a single movement needs it. When a movement request comes in, Wandelbots NOVA activates the motors and actively controls the robot. Once the robot has reached its destination, the motors are deactivated and Wandelbots NOVA only reads from the robot. The next movement request activates the motors again. Each of these mode switches takes time, which is noticeable as a pause between consecutive trajectories.

To keep the motors activated between movements, set control mode as the controller’s default with Controller > Set Default Mode PUT /api/v2/cells/{cell}/controllers/{controller}/mode?mode=MODE_CONTROL. The controller then stays in control mode until you set mode=MODE_MONITOR again, so sequential movements run without a mode switch in between.

Error message: <Status.FAILED_PRECONDITION>

You connected your physical cell to Wandelbots NOVA and tried to run a program. The error message <Status.FAILED_PRECONDITION> failed enable position control while trying to control the robot, the robot shows an operation or safety state that does not allow active controlling. Manual user interaction with the physical robot is required. is displayed.

  1. Check that the robot is in the correct operating state by referring to the robot setup instructions.
  2. Use Controller > State GET /api/v2/cells/{cell}/controllers/{controller}/state is in the desired state.
  3. Use Motion Group > State GET /api/v2/cells/{cell}/motion-groups/{motion-group}/state to check if the robot is in the correct state. Likely, the following error will be displayed: 
    Tried to claim mode 'ROBOT_MODE_MONITOR' for '$(...)$' but already in Use.
  4. The solution to this is to restart the robot movement calculation & control service. Restart your instance and try again. If the problem persists, restart the robot and try again.

Error message: wandelbots-nova: Action class 'Motion' does not have a valid type

Python examples in the API documentation contain URL encoded characters or are escaped incorrectly.

When sending unedited Python code snippets from the Wandelbots NOVA API documentation, some URL encoded characters may lead to errors when executing the code, e.g., wandelbots-nova: Action class 'Motion' does not have a valid type.

For now, you need to manually decode these characters before executing the code, e.g., in the following example:

ios=tool_out%5B1%5D

needs to be changed to

ios=tool_out[1]

Port issues with TIA Portal

If your PLC shows errors when connecting to Wandelbots NOVA using PROFINET, it’s likely due to port conflicts in TIA Portal v19 and v20.

  1. Using Wandelbots NOVA 25.7? Stick to TIA Portal v18 or earlier. v19 and v20 are not supported due to port issues.
  2. TIA Portal v19 or v20 required? Update to the latest Wandelbots NOVA version and use the latest PROFINET GSD file.

Is it possible to get the target coordinates from ghost teaching via an API call?

Wandelbots provides API endpoints for this scenario with its Isaac Sim Omniverse Extension. Additionally, there is a Python SDK to facilitate interaction with the API. Within Omniverse, there are endpoints for interacting with prims and ghost objects. With these tools you can retrieve a robot’s pose coordinates as well as target coordinates by moving the ghost during ghost teaching when integrated with Omniverse.

Can I use Wandelbots NOVA with robots mounted to the ceiling?

Yes, Wandelbots NOVA supports robots mounted to the ceiling. More information can be found here.

Yaskawa

Jobs are stalling and job limits are reached when using Wandelbots NOVA.

To run Wandelbots NOVA with a Yaskawa, MotoPlus jobs need to be running. In order for these additional jobs to be running, the limits on the controller must be set as mentioned in the Yaskawa setup instructions.