# 26.6 - August 2026

> Read the official release notes for Wandelbots NOVA 26.6. Discover new features, improvements, bug fixes, and changes in the latest version of Wandelbots NOVA.

## HOTFIX 26.6.1

> **Updating to 26.6 breaks existing connections to Yaskawa and Universal Robots:** You can resolve this issue by either updating to 26.6.1 or deleting and adding the robots again via the API or in Setup.

## BREAKING CHANGES

### Removal of Wandelbots NOVA API v1 and Wandelscript

> **Breaking change: Removal of Wandelbots NOVA API v1 and Wandelscript:** With this release, access to Wandelbots NOVA API v1 and Wandelscript is no longer available.
>
> **If you haven't migrated your programs/applications to Wandelbots NOVA API v2 and Python SDK yet, updating to Wandelbots NOVA OS 26.6 will break
> apps and programs.**
>
> Use the migration guides to transfer your applications and programs to v2 and Python SDK before updating:
>
> - [NOVA API v1 to v2 migration guide](/nova/26.6/nova-api/migration-guide)
> - [Wandelscript to Python SDK migration guide](/developer/migrate-wandelscript)
>
> Customer Success is happy to assist you with the migration.

### ABB IRB 1200 0.7/7 configuration name change

For those who have hardcoded the robot configuration name in their API calls for ABB IRB 1200 0.7/7, please note that the robot configuration name has changed from `abb-irb1200_7` to `abb-irb1200_07_7`. Please update your API calls and robot programs accordingly to avoid potential breaking changes in the future.

## What's new?

### New supported robot brands

#### Stäubli

With this release, the CS9 Stäubli controller is supported by Wandelbots NOVA.

These Stäubli robot arms are now supported by Wandelbots NOVA:

- TX2 40
- TX2 60
- TX2 90
- TX2 140

#### Techman

Wandelbots NOVA now supports Techman controller version 5.0.

Additionally, these Techman cobots are now supported by Wandelbots NOVA:

- TM5S
- TM12S
- TM25S
- TM30S
- TM30SC

### Supported motion groups

Added support for 16 new robot(s):

**ABB**

- IRB5710-110/2.3
- IRB5710-70/2.7 LID
- IRB5710-90/2.3 LID
- IRB5710-90/2.7
- IRB5720-125/3.0
- IRB5720-155/2.6 LID
- IRB5720-180/2.6
- IRB5720-90/3.0 LID
- IRT 710

**FANUC**

- ArcMate 100iC/12S
- M-10iA/12S
- M-900iB/400L
- R-2000iC/165F

**KUKA**

- KL1500
- KR 150 R2700-2
- KR 210 R2700

**UNIVERSALROBOTS**

- UR15

**YASKAWA**

- TURN-1

For an up to date overview of all supported controllers and motion groups (robotic arms and external axes),
refer to the [Compatibility section](/nova/26.6/compatibility).

### API improvements

- New experimental `singularity_handling` property added to [Plan Trajectory](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory), allowing configuration of wrist singularity handling strategy along cartesian paths.
- A new [kinematic configuration endpoint](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getKinematicConfiguration) returns the kinematic configuration for each given joint position including branch and axis ranges. It is only available for 6-DOF robots with spherical or offset wrist that implement kinematic branch calculation.
- A new experimental endpoint [Motion group model catalog](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getMotionGroupModelsCatalog) returns an array of strings representing the catalog of all motion groups with both their motion group names and readable names.
- A new experimental endpoint [Network interfaces](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getNetworkInterfaces) returns the network interfaces available on the system.

### Setup app uses a different API call to add robots

Adding robots via Setup app now uses [Motion Group Models > Get Homejoints](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getMotionGroupHomejoints). If something goes wrong during the process, improved error messages and loading indicators help you resolve issues.

## What's better?

- Instead of prompting for license activation, a loading indicator is displayed in Setup app when license status is unavailable.

### Plan collision free trajectory update

The property `motion_commands` has been added to the [Plan collision free trajectory](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planCollisionFree) endpoint, returning the motion commands that produced the trajectory.

### Stepwise jogging

Stepwise jogging has been improved, as it is now provided for when orientation is set to TCP in addition to Base.

### Payloads in UR and FANUC

Payloads are now supported for Universal Robots and FANUC motion groups. The integrations expose combinations of all TCPs and payloads and the respective pairs can be selected using the API.

### Removed duplicated robot model

Removed duplicated entry `KUKA_KR210_R2700-extra` of `KUKA_KR210_R2700`. Although this is not a breaking change, please update your API calls and robot programs to avoid potential breaking changes in the future.

### Robot pad update

Robot Pad now provides visual feedback on the progress when loading a robot.

### Setup app update

The Setup app now provides visual feedback on the progress of a cell's creation. When a failure happens, information is now collected and provided about the specific step where the error was encountered. This gives you the agency to solve errors in a straightforward manner, either by yourself or by reaching out to our Customer Success team.

## Bug fixes

- In Setup app, IO descriptions are now fetched per controller, insuring that issues with a single controller do not prevent loading of IOs from other controllers.
- The brakes of Universal Robots motion groups with PolyScope version 5.22 or greater can now be released automatically again.

## Technical details

For an up to date overview of all compatible dependencies including GitHub repositories, NVIDIA Isaac Sim offline packages and
custom option packages for robot setups, refer to the [Compatibility section](/nova/26.6/compatibility).

## Documentation

- Removal of legal notice for a.r.c. (feature in Robot Pad that was deprecated with Wandelbots NOVA OS 26.4)
- The compatibility section now features an [overview of option package versions compatible with NOVA OS versions](/nova/26.6/compatibility#with-custom-files-for-robot-setups) to facilitate the physical setup process.

### New documentation structure: Introducing NOVA Cloud, Simulation, and Developer areas

> **New documentation structure:** The Wandelbots NOVA documentation is now organized into four dedicated areas: NOVA Cloud, NOVA OS, Simulation, and Developer, accessible via the product switcher at the top of the page.

- A new documentation **home page** helps you get started quickly, with links into each area.
- **NOVA Cloud**, previously known as Developer Portal, now has its own dedicated documentation, covering cloud instances, account and license management, as well as additional Cloud features such as fleet deployment, roles and permissions.
- **NOVA OS** remains the main area for all things related to the NOVA operating system, including setup instructions, API reference, and troubleshooting guides.
- **Simulation**, previously a section within the NOVA docs, is now a standalone area with its own navigation and release notes.
- **Developer** brings together everything for building custom apps and robot programs, including the Python and TypeScript SDKs and device integrations, previously split across separate sections.

Use the switcher to jump between areas.

### FAQ for respective robot brands moved

Questions for supported robot brands can now be found in the Troubleshooting section of the respective robot setup instructions.
This way, finding a resolve during setup will be easier.

The following FAQ articles have been moved from FAQ to the respective robot troubleshooting guides:

| Previously | From 26.6 on |
| - | - |
| KUKA RSI connection is not stable | KUKA: [Connection issues](/nova/26.6/setup/robots/kuka#connection-issues) |
| FANUC displays error `640091152` after establishing RMI connection | FANUC Industrial & Cobot:  [FANUC displays error 640091152 after establishing RMI connection](/nova/26.6/setup/robots/fanuc#fanuc-displays-error-640091152-after-establishing-rmi-connection) |
| Robot movement was interrupted due to error `SYST-322` | FANUC Cobot: [Robot movement was interrupted due to error SYST-322](/nova/26.6/setup/robots/fanuc#robot-movement-was-interrupted-due-to-error-syst-322) |
| FANUC displays error `APSH-155` and cannot find the home position | FANUC Industrial & Cobot: [FANUC displays error APSH-155 and cannot find the home position](/nova/26.6/setup/robots/fanuc#fanuc-displays-error-apsh-155-and-cannot-find-the-home-position) |
| After setting the payload, I get an `SRVO-480` error | FANUC Industrial & Cobot: [After setting the payload, I get an SRVO-480 error](/nova/26.6/setup/robots/fanuc#after-setting-the-payload-i-get-an-srvo-480-error) |
| Connection from robot controller cannot be established. The robot is not moving. | UR: [Connection from robot controller cannot be established. The robot is not moving.](/nova/26.6/setup/robots/ur#connection-from-robot-controller-cannot-be-established-the-ur-is-not-moving) |
| Jobs are stalling and job limits are reached when using Wandelbots NOVA. | Yaskawa: [Jobs are stalling and job limits are reached when using Wandelbots NOVA](/nova/26.6/setup/robots/yaskawa#jobs-are-stalling-and-job-limits-are-reached-when-using-wandelbots-nova) |

### KUKA & UR troubleshooting section update

The troubleshooting sections of KUKA and UR have been updated, now providing the following information:

- KUKA, [How to resolve issues related to downloading WorkVisual projects while submit interpreters are running](/nova/26.6/setup/robots/kuka#downloading-workvisual-project-fails-while-submit-interpreters-are-running)
- UR, [How to treat a locked up robot during setup](/nova/26.6/setup/robots/ur#did-i-damage-the-ur-robot-during-setup)

### FAQ page updates

- A new topic about including Python scripts and modules in the Wandelbots VS Code workspace when exporting a cell has been added.
  You can find it [here](/nova/26.6/faq#how-can-i-include-vs-code-settings-python-scripts-and-modules-in-the-wandelbots-vs-code-workspace-when-exporting-a-cell).
- Information on what kind of data is exchanged between NVIDIA Isaac Sim and a NOVA instance has been added as well. Find it [here](/nova/26.6/faq#what-kind-of-data-is-exchanged-between-nvidia-isaac-sim-and-the-nova-instance).
- A new topic explains how to avoid pauses between trajectories by setting control mode as the controller's default. Find it [here](/nova/26.6/faq#my-robot-pauses-between-trajectories-what-do-i-have-to-do).

### KUKA brake test guide

Steps for completing the KUKA brake test, a crucial safety procedure, have been added to the documentation.
Please refer to this [guide](/nova/26.6/setup/robots/kuka#kuka-brake-test-guide) to ensure proper execution of the brake test for KUKA robots.

### Feedback improvements

Several sections have been updated in the documentation to provide more context and more accurate feedback. This aims to offer better clarity when moving through the available instructions.
Additionally, green checkmarks have been added to indicate the successful completion of a step.

### Setup instructions added to the documentation

The documentation now includes setup instructions for the following robot brands,
allowing users to connect and configure them with Wandelbots NOVA:

- [Stäubli](/nova/26.6/setup/robots/staubli)
- [Techman](/nova/26.6/setup/robots/techman)