Get started with Matlab

% The net48 folder of UnderAutomation.ABB.zip, copied next to this script
dll = fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll');

if ~NET.isNETSupported
    error('No supported .NET Framework found on this computer');
end

% Load the SDK once per Matlab session
NET.addAssembly(dll);

% Import the namespaces you use
import UnderAutomation.ABB.*
import UnderAutomation.ABB.Rws.*
import UnderAutomation.ABB.Rws.Data.*

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*


% Connect to an OmniCore controller with the default RWS parameters
robot = AbbController();
robot.Connect('192.168.0.1');

% Every RWS service is reachable from robot.Rws
identity = robot.Rws.Controller.GetIdentity();
disp(char(identity.Name));


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*
import UnderAutomation.ABB.Rws.*


parameters = ConnectionParameters('192.168.0.1');

% Ping the controller first, so an unreachable robot fails immediately
parameters.PingBeforeConnect = true;

parameters.Rws.Enable = true;
parameters.Rws.Username = 'Default User';
parameters.Rws.Password = 'robotics';
parameters.Rws.UseHttps = false;
parameters.Rws.Port = 0; % 0 means 80 for HTTP and 443 for HTTPS
parameters.Rws.Timeout = 10000;

% IRC5 with RobotWare 6: RwsVersion.Irc5_V1_0
parameters.Rws.Version = RwsVersion.OmniCore_V2_0;

robot = AbbController();
robot.Connect(parameters);


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*


% Register the license once, before the first connection
AbbController.RegisterLicense('YourCompanyName', 'YOUR_LICENSE_KEY');

info = AbbController.LicenseInfo;

% A readable description of the current state
disp(char(info.ToString()));

% Check the license once at startup
if ~info.IsLicensed
    error(char(info.ToString()));
end

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*


% Looks for two seconds, no license and no connection needed
found = AbbController.Discover(int32(2000));

% .NET arrays are indexed from 1 in Matlab
for i = 1:found.Length
    controller = found(i);
    fprintf('%s at %s:%d, RobotWare %s\n', char(controller.SystemName), ...
        char(controller.Address), controller.Port, char(controller.RobotWareVersion));
end

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*
import UnderAutomation.ABB.Rws.Data.*

robot = AbbController();
robot.Connect('192.168.0.1');


% Tool position in millimeters, in the base frame, with the active tool and work object.
% Pass every argument: [] passes null for the tool and the work object.
target = robot.Rws.MotionSystem.GetRobTarget('ROB_1', CoordinateSystem.Base, [], []);
fprintf('X=%.1f Y=%.1f Z=%.1f\n', target.X, target.Y, target.Z);

% Orientation as a quaternion
q = target.Orientation;
fprintf('q = [%.4f, %.4f, %.4f, %.4f]\n', q.Q1, q.Q2, q.Q3, q.Q4);

% Joint values of the robot axes, in degrees
joints = robot.Rws.MotionSystem.GetJointTarget('ROB_1', false);
robotAxes = joints.RobotAxes;
j = [robotAxes.Axis1, robotAxes.Axis2, robotAxes.Axis3, robotAxes.Axis4, robotAxes.Axis5, robotAxes.Axis6];


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*

robot = AbbController();
robot.Connect('192.168.0.1');


% A signal is identified by its network, its device and its name
signal = robot.Rws.Io.GetSignal('Local', 'Board10', 'DO_Gripper');

% LogicalValue is a .NET Nullable: HasValue is false when the controller gave no value
if signal.LogicalValue.HasValue
    fprintf('%s = %g (%s)\n', char(signal.Path), signal.LogicalValue.Value, char(signal.Type));
end

% Every signal of the controller, in one call
signals = robot.Rws.Io.GetSignals();
for i = 1:signals.Length
    fprintf('%s = %g\n', char(signals(i).Path), signals(i).LogicalValue.GetValueOrDefault());
end


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*

robot = AbbController();
robot.Connect('192.168.0.1');


% The value is a .NET float: convert it with single().
% The last argument writes the change in the event log of the controller.

% A digital signal takes 0 or 1
robot.Rws.Io.SetSignalValue('Local', 'Board10', 'DO_Gripper', single(1), false);

% An analog or a group signal takes any value inside its range
robot.Rws.Io.SetSignalValue('Local', 'Board10', 'AO_Speed', single(12.5), false);


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*

robot = AbbController();
robot.Connect('192.168.0.1');


% A value always comes back as the text RAPID writes it with. Reading needs no mastership.
value = robot.Rws.Rapid.GetSymbolValue('RAPID/T_ROB1/user/reg1');

% num and dnum: RAPID uses a dot as decimal separator, like Matlab
number = str2double(char(value.Value));

% bool: the controller writes TRUE or FALSE
flag = strcmpi(strtrim(char(robot.Rws.Rapid.GetSymbolValue('RAPID/T_ROB1/MainModule/myFlag').Value)), 'TRUE');

% string: the value carries the RAPID quotes, remove them
message = strip(char(robot.Rws.Rapid.GetSymbolValue('RAPID/T_ROB1/MainModule/myText').Value), '"');


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*
import UnderAutomation.ABB.Rws.Data.*

robot = AbbController();
robot.Connect('192.168.0.1');


% Writing needs the RAPID mastership. Take it, write, give it back.
robot.Rws.Mastership.Request(MastershipDomain.Rapid);
try
    % num: sprintf always writes a dot as decimal separator
    robot.Rws.Rapid.SetSymbolValue('RAPID/T_ROB1/user/reg1', sprintf('%g', 1.5));

    % bool: TRUE or FALSE, in capitals
    robot.Rws.Rapid.SetSymbolValue('RAPID/T_ROB1/MainModule/myFlag', 'TRUE');

    % string: the RAPID quotes are part of the value
    robot.Rws.Rapid.SetSymbolValue('RAPID/T_ROB1/MainModule/myText', '"hello"');
catch ex
    robot.Rws.Mastership.Release(MastershipDomain.Rapid);
    rethrow(ex);
end
robot.Rws.Mastership.Release(MastershipDomain.Rapid);


robot.Disconnect();

NET.addAssembly(fullfile(pwd, 'net48', 'UnderAutomation.ABB.dll'));
import UnderAutomation.ABB.*

robot = AbbController();
robot.Connect('192.168.0.1');


tasks = robot.Rws.Rapid.GetTasks();

for i = 1:tasks.Length
    task = tasks(i);

    % char() gives the name of an enumeration value: Started, Stopped, Ready...
    fprintf('%s: %s, %s\n', char(task.Name), char(task.Type), char(task.ExecutionState));
end


robot.Disconnect();