Wandelbots NOVA

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Connect Stäubli to Wandelbots NOVA

Last updated: August 19, 2026

Learn how to connect Stäubli robots to Wandelbots NOVA.

Stäubli

Using a Stäubli 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 Stäubli controller types and models are supported by Wandelbots NOVA?

Supported models

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

Use virtual controller

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

Set up and connect Stäubli controller

Supported models

Controllers

Controller Supports Requirements

Motion groups

Robotic arms

Use virtual controller

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 Setup

Open Setup 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 Setup:

  • Select the “Robots” tab.
  • Use 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.
  • Name the robot
  • Select Stäubli as manufacturer.
  • Select the desired robot model.
  • Add the robot to the cell.

Add a TCP

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

  1. Select the TCPs tab in the robot’s settings.
  2. Use to create a new TCP.
  3. Name the TCP.
  4. Define the TCP’s translation and rotation relative to the robot’s flange.
  5. Save the TCP.

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 CS9 controller

Cloud instances are not suited to control a physical robot and you need to use a VM or an IPC instead. More information on available NOVA instance types here.

About setup instructions

The provided setup instructions do not replace a thorough understanding of the robot manufacturer’s original operating instructions 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 Stäubli controller on Wandelbots NOVA.
  5. Troubleshooting common issues that may arise during the setup process.

In order to connect the Stäubli controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these cell designs.

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

Connect the IPC to controller

  1. Plug your network cable into port J04 or J05 on the physical controller.
  2. On the robot control panel, press the home button, open Settings (purple) → Network.
  3. Open the IP address of the port the controller is connected to, choose a free IP address in the same subnet as the IPC, and press Confirm.

Configure the 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.
  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. Use 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 CS9 controller’s IP address set in Set up the CS9.
  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 install the package on the CS9.

Install and configure option packages

  1. Open the Setup app and add the physical Stäubli robot.
    A loading indicator is displayed while the IPC sends configuration data via FTP to the controller. The loading indicator is displayed until step 3 is completed.
  2. On the robot control panel, press the home button, then go to VAL3 (green) → Storage → Disk.
    The disk’s contents are displayed. They should now contain WandelbotsApp and WandelbotsLibrary.
  3. Restart the Stäubli controller.
    The Setup app now displays the added robot as successfully connected.
  4. On the robot control panel, open the log screen with i.
    A list of logs is displayed.
  5. Verify that the logs contain a version of WandelbotsApp and WandelbotsLibrary.
  6. Use the VAL-3 app management button and verify that WandelbotsApp is running.
  7. To start the Wandelbots application, press Reload, then Play.
  8. Verify the correct socket configuration by using the home button → IOs → Sockets.
  9. Verify that the TCP Server has one entry named siSocketPhys.
  10. On the robot control panel, use the home button again.
  11. Open Robot (blue) → Information.
    The list of installed packages is displayed.
  12. Verify that the packages alter and advancedControlFunctions are part of the list and enabled.
    If not, please contact your Stäubli distributor to install the missing packages.
    Wandelbots NOVA can now connect to the robot.

Use CS9 controller on Wandelbots NOVA

  1. Open the Setup app and add the physical Stäubli robot.
    The successfully added controller is now displayed in the Setup app.
  2. On the robot control panel, enable arm power using the large white button.
    A white light next to the Pause button turns on.
  3. Press the blue blinking Move Hold button below the power button.
    The blue light stays on, indicating that the robot is ready to move. The Stäubli robot is now connected to Wandelbots NOVA.

Troubleshooting

Automatic socket configuration fails

If the socket connection configuration doesn’t update automatically after installing the Wandelbots option package, set it up manually on the robot control panel:

  1. Press the home button, open IOs (orange) → Sockets → TCP Server.
  2. Add a new entry named siSocketPhys.
  3. Open IOs (orange) → Sockets → UDP Sockets.
  4. Add an entry named siJointStates pointing to the IP address of the IPC.
  5. Add an entry named siJointCmds and leave it empty.

Auto-starting a program fails

If WandelbotsApp doesn’t start automatically, start it manually on the robot control panel:

  1. Press the home button, open VAL3 (green) → Storage.
  2. Select WandelbotsApp → Load → Memory.
  3. Press Play.