> For the complete documentation index, see [llms.txt](https://doc.realvirtual.io/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://doc.realvirtual.io/extensions/modelzoo/denso-cobotta-1300.md).

# Denso Cobotta 1300

Virtual commissioning of a denso robot in a machining cell

The robot in this ModelZoo scene can be controlled via **WincAPS III**.\
Please refer to our [Denso Interface Documentation](/components-and-scripts/interfaces/denso-robotics-pro.md) for detailed information about prerequisites and setup.

## Interface Configuration

To connect the simulation with the DENSO robot (via **WincCAPS III**), you need to configure the IP address and project path.

1. Click the **⚙️ Settings** icon in the top menu bar.
2. Enter the following parameters:

| Field                             | Description                                        |
| --------------------------------- | -------------------------------------------------- |
| `DensoCobotta1300.ipAdress`       | IP address of the robot or virtual controller      |
| `DensoCobotta1300.WincapsProject` | Full path to your local WincAPS III project folder |

<figure><img src="https://260262196-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FpYxFg97YnJX96UzNNTSd%2Fuploads%2Fgit-blob-03fcdbb8a9c5539ea6d7c7c2121ea6f9d5066c11%2Fimage.png?alt=media" alt=""><figcaption><p>Denso Wincaps Interface configuration</p></figcaption></figure>

## **Signal Mapping in WincAPS Project**

onfigure the following **I/O signals** in your WincAPS project to enable interaction between the robot and the simulation:

| Signal Name        | Type   | Address | Description                                                       |
| ------------------ | ------ | ------- | ----------------------------------------------------------------- |
| Close Gripper      | Output | EA 64   | Command from the robot to close the gripper                       |
| Gripper Closed     | Input  | EA 48   | Feedback from simulation that the gripper has fully closed        |
| Load Cell          | Input  | EA 49   | **Signal from simulation to robot:** start the loading sequence   |
| Robot Is Loading   | Output | EA 65   | **Signal from robot to simulation:** robot has started loading    |
| Unload Cell        | Input  | EA 50   | **Signal from simulation to robot:** start the unloading sequence |
| Robot Is Unloading | Output | EA 66   | **Signal from robot to simulation:** robot has started unloading  |
|                    |        |         |                                                                   |

These signals provide a handshake between the robot program and the simulation, enabling synchronized operation.\
\
ℹ️ The **PLC logic** controlling the **entry and exit conveyors** is fully simulated inside the scene and does not require an external controller.


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