# Connect Yaskawa to Wandelbots NOVA

> Learn how to connect Yaskawa robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.

> **Info:** Wandelbots NOVA includes a real-time kernel and `robot-realtime` tuned profile by default to ensure stable robot control and meet timing requirements.

Using a Yaskawa with Wandelbots NOVA offers a wide range of possibilities for automating your production processes.
There are 3 things you need to know before you start:

Which Yaskawa controller types and models are supported by Wandelbots NOVA?

[Supported models](#supported-models)

Wandelbots NOVA provides you with virtual controllers for path planning, app development and simulation purposes.

[Use virtual controller](#use-virtual-controller)

You can connect your Yaskawa controller to Wandelbots NOVA for real-world automation.

[Set up and connect Yaskawa controller](#set-up-and-connect-yaskawa-controller)

## Supported models

### Controllers

| Controller | Supports | Requirements |
| - | - | - |
| YRC1000 | industrial/cobot | Firmware: >=4.20; Option package: MotoPlus runtime (Auto-Start activated), File Transfer Protocol; Setting: Euler angle function \`FD63\` turned off \`0\` |

### Motion groups

#### Robotic arms

**Cobots**

| Robot arm |
| - |
| HC10 DTP |
| HC20 DTP |

**Industrial robots**

| Robot arm |
| - |
| AR1440 |
| AR1730 |
| AR2010 |
| AR3210 |
| AR700 |
| AR900 |
| GP110 |
| GP12 |
| GP180 |
| GP180-120 |
| GP200S |
| GP20HL |
| GP215 |
| GP225 |
| GP25 |
| GP25-12 |
| GP250 |
| GP280 |
| GP35L |
| GP400 |
| GP50 |
| GP600 |
| GP7 |
| GP8 |
| GP88 |

#### External axes

| External axis |
| - |
| TSL 600 SY |
| TURN-1 |
| TURN-2 |

## Use virtual controller

### Step 1: Open the home screen

Open your cloud instance via NOVA Cloud 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](/nova/26.7/architecture).

### Step 2: Create a cell in Setup

Open Setup and go to the `Cell` tab.

### Step 3: 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](/nova/26.7/nova-api/overview#add-a-robot-to-the-cell).

OR add a robot to your cell in Setup:

1. Open the `Robots` tab.
   → The robot overview is displayed.
2. Click [Add] to add a robot to your cell.\
   → A drawer opens guiding you through adding a robot.
   If the [Add] button is greyed out, your license might not support adding more robots. Please contact your administrator.
3. Select the robot type `Virtual`.
   → The drawer updates to display options for adding a virtual robot.

> **Info:** Adding a physical robot will only work after [successful setup](#set-up-and-connect-yaskawa-controller).

4. Name the robot.
5. Select `Yaskawa` as manufacturer.
6. Select the desired robot model.
7. `Add` the robot to the cell.
   → A progress indicator is displayed while the robot is being added to the cell.
   → The robot is displayed in the cell overview.

### Step 4: Add a TCP

To replicate a physical robot's behavior accurately, you can define TCPs for virtual robots in the Setup app.

1. Click on the robot.
   → A drawer opens displaying the robot details.
2. Open the `TCP` tab.
   → The TCP tab displays all existing TCPs of the robot.
   → For physical robots, the TCP tab presents an overview on all existing TCPs on the physical robot controller.
   You cannot add TCPs for physical robot controllers in Setup as these need to be configured on the robot controller.
3. Use [Add] to add a new TCP.
   → Options to add a new TCP are displayed.
4. Define the TCP's translation and rotation relative to the robot's flange.
5. Save the new TCP.
   → The new TCP is displayed in the TCP tab and can be selected in Robot Pad.

Congrats! You can now start to plan paths and simulate! Open Robot Pad from the home screen of your instance and get started ✨.

## Set up and connect Yaskawa controller

Cloud instances are not suited to control a physical robot and you need to use a VM or use an IPC instead.
More information on available NOVA instance types [here](/nova/26.7/installation/installation#instance-types).

### About setup instructions

The provided setup instructions do not replace a thorough understanding
of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above.

The setup instructions include the following steps:

1. Preparing the robot for the connection with Wandelbots NOVA.
2. Physically connecting the IPC to the robot controller.
3. Configuring the IPC to establish communication with the robot controller.
4. Using the Yaskawa controller on Wandelbots NOVA.
5. Troubleshooting common issues that may arise during the setup process.

In order to connect the Yaskawa controller to Wandelbots NOVA,
Wandelbots NOVA needs to be integrated into the robotic cell according to these [cell designs](/nova/26.7/setup/cell-design).

> **Info:** Wandelbots NOVA only supports Yaskawa controllers with at least software version 4.20 or higher.

Ensure that the Yaskawa controller you're about to connect to Wandelbots NOVA is listed in the [supported models](#supported-models) section.

Watch the connection guide in the [NOVA Cloud tutorials](/nova-cloud/tutorials-and-support) if you prefer
following along with a video.

Note that setting a correct mounting pose in the robot controller is crucial, especially for cobots, as they are sensitive to gravity direction.

### Qualified user groups

Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise.
The following instructions are intended for qualified user groups only.

> **⚠️ 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.

If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header:

[Admin]

### Step 1: Prepare USB stick

#### Download motoPlus files

The motoPlus files are required to successfully connect and configure the Yaskawa robot controller for Wandelbots NOVA.
Download the `wandelbots-server.out` and the `wandelbots-usb-loader.out` file from the Setup physical controller
section in [NOVA Cloud downloads](/nova-cloud/downloads), to your workstation and copy them onto a USB stick pendrive 8 GB USB 2.0 (FAT32 or NFTS USB sticks with max. 8 GB capacity).
You'll need this stick to upload the motoPlus files onto the robot controller at a later point.

#### Copy motoPlus onto USB-stick

1. Plug the Pendrive 8 GB USB 2.0 flash drive into the workstation.
2. Open the USB flash drive's file path.
3. If applicable, remove the USB flash drive's read-only mode.
4. Copy the wandelbots-usb-loader.out file onto the USB flash drive.
5. Create a folder on the USB flash drive next to the previously added file.
6. Rename the folder wandelbots
7. Ensure correct spelling: wandelbots
8. Open the `wandelbots` folder.
9. Copy the wandelbots-server.out file into the `wandelbots` folder.
10. Properly eject the USB flash drive.
11. Unplug the USB flash drive.
12. Plug the USB flash drive into the robot controller's CN102 plug.\
    Leave the USB flash drive plugged in for the cell's life time.

### Step 2: 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 LAN-3 port.
3. Turn on the IPC.
4. Only then turn on the robot controller.

### Step 3: Prepare the Yaskawa [Admin]

_Using the original robot control panel_

#### Configure Yaskawa network settings

1. Activate maintenance mode.
2. Activate management mode.
3. In the main menu, tap the `SYSTEM` button.\
   → The sub menu is displayed.
4. In the sub menu, tap the `SETUP` button.\
   → The `SETUP` screen is displayed.
5. Select the `OPTION FUNCTION` checkbox.\
   → Optional functions are displayed.
6. Select `DETAIL` of the `LAN INTERFACE SETTING` checkbox.\
   → The `LAN INTERFACE SETTING` screen is displayed.
7. Enter the `IP ADDRESS SETTING(LAN3)`'s object values from the following table.

   | Object | Value |
   | - | - |
   | IP ADDRESS SETTING(LAN3) | MANUAL SETTING |
   | IP ADDRESS | e.g. 192.168.255.1 This IP address can be a custom IP address, but must be within the IPC's IP address's subnet. |
   | SUBNET MASK | 255.255.255.0 |

   → The `MODIFY?` screen is displayed.
8. Confirm modification.\
   → The LAN connection and the robot controller's IP address were successfully set up.

#### Activate motoPlus

1. In the main menu, tap the `SYSTEM` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SETUP` button.\
   → The `SETUP` screen is displayed.
3. Select the `OPTION FUNCTION` checkbox.\
   → Optional functions are displayed.
4. Select the `MotoPlus FUNC.` checkbox and set it to `USED`.\
   → The `MODIFY?` screen is displayed.
5. Confirm modification.\
   → The `INITIALIZE RELATED FILES? SRAMDRV.DAT` screen is displayed.
6. Confirm initilization of related files.

**No request displayed**

→ No request is displayed.
→ MotoPlus was successfully activated.

**Reset the safety board displayed**

→ A request to `Reset the safety board` is displayed

1. In the main menu, tap the `SYSTEM` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SECURITY` button.\
   → The `SECURITY` screen is displayed.
3. Select the `SAFETY MODE` from the `MODE`'s selection bar and confirm with Enter.\
   → The robot controller is now in safety mode.
4. In the main menu, tap the `FILE` button.\
   → The sub menu is displayed.
5. In the sub menu, tap the `INITIALIZE` button.\
   → The `INITIALIZE` screen is displayed.
6. Select the `Safety Board FLASH Reset` checkbox.\
   → The `RESET?` screen is displayed.
7. Confirm reset.\
   → MotoPlus was successfully activated.

#### Activate FTP function in standard mode

1. In the main menu, tap the `SYSTEM` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SETUP` button.\
   → The `SETUP` screen is displayed.
3. Select the `OPTION FUNCTION` checkbox.\
   → Optional functions are displayed.
4. Select `DETAIL` of the `NETWORK FUNCTION SETTING`'s checkbox.\
   → Details of the network function settings are displayed.
5. Select FTP function's mode `STANDARD` and confirm with Enter.\
   → The `MODIFY?` screen is displayed.
6. Confirm modification.

**No request displayed**

→ No request is displayed.
→ FTP function in standard mode was successfully activated.

**Reset the safety board displayed**

→ A request to `Reset the safety board` is displayed

1. In the main menu, tap the `SYSTEM` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SECURITY` button.\
   → The `SECURITY` screen is displayed.
3. Select the `SAFETY MODE` from the `MODE`'s selection bar and confirm with Enter.\
   → The robot controller is now in safety mode.
4. In the main menu, tap the `FILE` button.\
   → The sub menu is displayed.
5. In the sub menu, tap the `INITIALIZE` button.\
   → The `INITIALIZE` screen is displayed.
6. Select the `Safety Board FLASH Reset` checkbox.\
   → The `RESET?` screen is displayed.
7. Confirm reset.\
   → FTP function in standard mode was successfully activated.

#### Delete old motoPlus files

1. In the main menu, tap the `MotoPlus APL.` button.\
   → The sub menu is displayed.
2. Tap the `DELETE` button.
3. Select the existing files.\
   → The `DELETE?` screen is displayed.
4. Confirm deleting.

#### Upload motoPlus files

1. In the main menu, tap the `MotoPlus APL.` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `DEVICE` button.\
   → All detected target devices are displayed.
   If the USB flash drive is not detected as target device, remove the read-only mode or replace the malfunctioning USB flash drive.
3. Select `USB-1:Controller`.\
   → The sub menu is displayed.
4. In the sub menu, tap the `LOAD (USER APPLICATION)` button.\
   → Available files on detected target devices are displayed.
5. Select the wandelbots-usb-loader.out file and confirm with Enter.\
   → The `LOAD?` screen is displayed.
6. Confirm loading.\
   → The motoPlus application was successfully uploaded to the robot controller.

#### Activate automatic motoPlus start

1. In the main menu, tap the `MotoPlus APL.` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `MotoPlus FUNC. SETTING` button.\
   → The `MotoPlus FUNC. SETTING` screen is displayed.
3. Select the button next to `APPLI. AUTOSTART AT POWER ON`.
4. Set to `ENABLED`.
5. Confirm the activation.\
   → Automatic motoPlus start upon the start of the robot controller is successfully activated.

#### Select output

1. Activate online mode.
2. Set the robot controller's key switch to `manual mode`.
3. Activate management mode.
4. In the main menu, tap the `IN/OUT` button.\
   → The sub menu is displayed.
5. In the sub menu, tap the `GENERAL PURPOSE OUTPUT` button.\
   → All available general purpose outputs are displayed.
6. Select OUT#100.\
   If the OUT#100 output is already used, select an unused output within the group and write down the output's number.

#### Enable overwriting jobs

1. In the main menu, tap the `PARAMETER` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `RS` button.\
   → The `PARAMETER` screen is displayed.
3. Set the parameter RS214's value to 1.\
   → Jobs can now be overwritten.

#### Activate FTP in online mode

1. In the main menu, tap the `PARAMETER` button.\
   → The sub menu is displayed.

2. In the sub menu, tap the `RS` button.\
   → The `PARAMETER` screen is displayed.

3. Enter the parameter's values according to the following table.

   | Parameter | Value |
   | - | - |
   | RS005 | 1 |
   | RS007 | 2 |

4. In the main menu, tap the `IN/OUT` button.\
   → The sub menu is displayed.

5. In the sub menu, tap the `PSEUDO INPUT SIGNAL` button.\
   → The `PSEUDO INPUT SIGNAL` screen is displayed.

6. Select `87015 CMD REMOTE SEL` and press INTERLOCK and SELECT simultaneously to activate it.\
   → The colored circle next to the input signal signals that the FTP was activated in online mode.

#### Set the robot's default position levels

1. In the main menu, tap the `PARAMETER` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `S1CxG` button.\
   → The `PARAMETER` screen is displayed.
3. Enter the S1CxG parameter values as displayed in the following table.

   | S1CxG parameter | Value |
   | - | - |
   | S1C1G0033 | 12500 |
   | S1C1G0034 | 25000 |
   | S1C1G0035 | 50000 |
   | S1C1G0036 | 100000 |
   | S1C1G0037 | 200000 |
   | S1C1G0038 | 300000 |
   | S1C1G0039 | 400000 |
   | S1C1G0040 | 500000 |

   → The robot's default position levels have been set successfully.

#### Set Wandelbots job on the robot controller

1. In the main menu, tap the `JOB` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SELECT JOB` button.\
   → The `JOB LIST` is displayed.
3. Open WB-CTRL-GROUP-XXXX.\
   If WB-CTRL-GROUP-XXXX is not available, repeat the following steps:
   Connect the IPC to the robot controller following the Wandelbots NOVA original operating instructions.
   Set up the robot controller's LAN connection and IP address
   Activate motoPlus
   Set the key switch to manual mode
   → The job content is displayed.
4. Enter the previously selected output as values for the 0001 and 0002 parameters, e.g. with default output OUT #100:

   | Parameter | Value |
   | - | - |
   | 0001 | DOUT OT#(100) OFF |
   | 0002 | WAIT OT#(100)=ON |

   → The Wandelbots job was successfully set on the robot controller.

→ The robot controller was successfully set up for Wandelbots NOVA.

#### Verify job limits on controller

To run Wandelbots NOVA, controller job limits need to be set at the following values:

| S1D30x parameter | Value | Description |
| - | - | - |
| S1D305 | 15 | MotoPlus application |
| S1D306 | 10 | High priority tasks |
| S1D307 | 30 | Medium priority tasks |

These limits are set differently based on the country of operation and can only be set by Yaskawa service staff.
Please contact the designated Yaskawa customer support to increase the values.

### Step 4: 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.

   > **Warning:** 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.

### Step 5: Use Yaskawa controller on Wandelbots NOVA

1. Type in your physical instance's IP address to access the home screen.
   → The home screen is displayed.
2. Open Setup and go to the `Cell` tab.
   → The cell overview is displayed.
3. Open the `Robots` tab.
   → The robot overview is displayed.
4. Click [Add] to add a robot to your cell.\
   → A drawer opens guiding you through adding a robot.
   If the [Add] button is greyed out, your license might not support adding more robots. Please contact your administrator.
5. Select the robot type `Physical`.
   → The drawer updates to display options for adding a physical robot.
6. Name the robot.
7. Select `Yaskawa` as the manufacturer.
8. Enter the `Host`.
9. Click on `Add`.
   → A progress indicator is displayed while the robot is being added to the cell.
   → The robot is displayed in the cell overview.
10. Set the robot to one of the operating modes: Manual or automatic.

#### Automatic mode

1. Wait until the button `Servo on Ready` on the control panel blinks.
2. Activate the motion group in Robot Pad in the safety bar or via the Wandelbots NOVA API Motion Group endpoint `POST /cells/{cell}/motion-groups/all`.

#### Manual mode

1. Wait until the button `Servo on Ready` on the robot control panel blinks.
2. Press and hold the enabling switch.
3. Activate the motion group in Robot Pad in the safety bar or via the Wandelbots NOVA API Motion Group endpoint `POST /cells/{cell}/motion-groups/all`.

#### TCPs

To use TCPs for connected physical controllers on NOVA, you need to set them up on the robot controller first.
Refer to the original Yaskawa documentation on [how to set up TCPs on the robot controller](https://knowledge.motoman.com/hc/en-us/articles/28020383287186-How-to-Set-a-Tool-Center-Point-TCP-on-Standard-Pendant).

TCPs will then be displayed in the Setup app under the `TCPs` tab in the robot's settings and can be selected for path planning in Robot Pad.

## Troubleshooting

### Find the Yaskawa's IP address

1. In the main menu, tap the `SYSTEM INFO` button.\
   → The sub menu is displayed.
2. Select `NETWORK SERVICE` and scroll down to ADDRESS SETTING (LAN3).\
   → The robot controller's IP address is displayed.

### Activate maintenance mode

1. In the main menu, tap the `SYSTEM INFO` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `CPU RESET` button.\
   → The `CPU RESET` screen is displayed.
3. Select the maintenance mode from the `START MODE`'s selection bar and confirm with Enter.\
   → The `EXECUTE CPU RESET?` screen is displayed.
4. Ensure that the servo power is turned off.
5. Confirm CPU RESET.\
   → Maintenance mode is now activated.

### Activate management mode

1. In the main menu, tap the `SYSTEM INFO` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `SECURITY` button.\
   → The `SECURITY` screen is displayed.
3. In the selection bar, tap `MANAGEMENT MODE` and confirm with Enter.\
   → A request to `Enter the management mode's password` is displayed.
4. Enter the management mode's password and confirm with Enter.\
   → The management mode is now activated.

### Activate online mode

1. In the main menu, tap the `SYSTEM INFO` button.\
   → The sub menu is displayed.
2. In the sub menu, tap the `CPU RESET` button.\
   → The `CPU RESET` screen is displayed.
3. Select the online mode from the `START MODE`'s selection bar and confirm with Enter.\
   → The `EXECUTE CPU RESET?` screen is displayed.
4. Ensure that the servo power is turned off.
5. Confirm CPU RESET.\
   → Online mode is now activated.

### FTP access fails

Connection to the robot controller via NOVA fails after a restart of either the robot controller or the NOVA instance.

More specifically, the following error message is displayed:

```
Wandelbots Api Exceptions: Failed to transfer file /usr/local/share/config/../install-resource/yaskawa/wandelbots-server-2.x.y.z.out to remote path MUSB0/wandelbots/wandelbots-server.out: Login denied
```

Wandelbots NOVA expects the initial default Yaskawa controller's MANAGEMENT MODE user credentials.

1. Change the user credentials in the Yaskawa controller's MANAGEMENT MODE to the default user credentials.
2. Restart the Yaskawa controller.

### 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](#verify-job-limits-on-controller).

### Connection issues

Resolve connection issues by referring to the [FAQ section on robot connectivity](/nova/26.7/faq#wandelbots-nova-instance-is-physically-connected-to-the-robot-but-the-robot-is-not-moving).