# Wandelbots Nova Fanuc CRX

This ModelZoo scene demonstrates the integration of a **Wandelbots NOVA** controlled robot in a virtual commissioning environment using **realvirtual.io**.

The robot model used in this scene is a **Fanuc CRX-10iA/L**. All PLC logic for the **entry and exit conveyors** is handled **entirely inside the simulation**, so no external PLC is needed.

To use this model, make sure you have:

* Access to **Wandelbots NOVA** (cloud or local installation)
* The robot controller configured for the **Fanuc CRX-10iA/L**

## Interface Configuration

To connect the simulation with a [**Wandelbots NOVA** ](https://www.wandelbots.com/de)instance, the following parameters must be set. Open the **⚙️ Settings** window in the top menu bar to access these fields:

| Field                                      | Description                                                                       |
| ------------------------------------------ | --------------------------------------------------------------------------------- |
| `WandelbotsNOVAInterface.WandelbotsServer` | IP address or URL of your Wandelbots NOVA server (e.g. `http://172.28.214.72`)    |
| `WandelbotsNOVAInterface.MotionGroup`      | The motion group identifier for the robot (e.g. `1@fanuc` for a Fanuc CRX-10iA/L) |
| `WandelbotsNOVAInterface.Username`         | Username for NOVA login                                                           |
| `WandelbotsNOVAInterface.Password`         | Password for NOVA login                                                           |
| `WandelbotsNOVAInterface.AccessToken`      | *Optional:* Only required when connecting to a **cloud-hosted** NOVA instance     |

After entering your connection data, activate the interface using the **🔌 connect switch** in the menu bar. Once the connection is active, the plug icon will turn green.

> 💡 Note: The **Access Token** is not needed for local or offline installations—only for authenticated access to the cloud-based NOVA server.

<figure><img src="https://260262196-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FpYxFg97YnJX96UzNNTSd%2Fuploads%2Fgit-blob-8386d735f16aee142baccc584180f072e483468d%2Fimage.png?alt=media" alt=""><figcaption><p>Wandelbots NOVA interface configuration</p></figcaption></figure>

## Signal Mapping

The following digital signals are used for handshaking between **realvirtual.io** and the **Wandelbots NOVA** robot:

### **Inputs (realvirtual.io → NOVA)**

| Signal | Type  | Description                            |
| ------ | ----- | -------------------------------------- |
| `di1`  | Input | Load Cell – triggers robot to load     |
| `di2`  | Input | Unload Cell – triggers robot to unload |
| `di3`  | Input | Gripper Closed – gripper status        |

### **Outputs (NOVA → realvirtual.io)**

| Signal | Type   | Description                                      |
| ------ | ------ | ------------------------------------------------ |
| `do1`  | Output | Robot Is Loading – robot has started loading     |
| `do2`  | Output | Robot Is Unloading – robot has started unloading |
| `do3`  | Output | Close Gripper – command to close gripper         |

***

#### Robot Programming

The robot behavior must be programmed in **Wandelbots NOVA**.\
Use the signal mapping above to define your automation logic and synchronize the robot with the simulation scene.

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