Get started with Matlab

% The net48 folder of UnderAutomation.Staubli.zip, copied next to this script
dll = fullfile(pwd, 'net48', 'UnderAutomation.Staubli.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.Staubli.*
import UnderAutomation.Staubli.Soap.Data.*

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


controller = StaubliController();

% Default parameters: SOAP port 851, user "default", password "default"
controller.Connect('192.168.0.254');

connected = controller.Enabled;


controller.Disconnect();

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


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

info = StaubliController.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.Staubli.dll'));
import UnderAutomation.Staubli.*

controller = StaubliController();
controller.Connect('192.168.0.254');


% Joints and flange position of the first robot, in one request.
% Pass [] for the optional tool and frame.
position = controller.Soap.GetCurrentCartesianJointPosition(0, [], []);

% Joint values in radians, as a Matlab row vector
joints = double(position.JointsPosition);

% Flange position in the world frame: X, Y, Z in meters, Rx, Ry, Rz in radians
flange = position.CartesianPosition;
fprintf('X=%.4f Y=%.4f Z=%.4f\n', flange.X, flange.Y, flange.Z);
fprintf('Rx=%.4f Ry=%.4f Rz=%.4f\n', flange.Rx, flange.Ry, flange.Rz);


controller.Disconnect();

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

controller = StaubliController();
controller.Connect('192.168.0.254');


% Joint values in radians. A Matlab vector is passed as a .NET array.
joints = [0, 0, pi/2, 0, pi/2, 0];

% The controller computes the flange frame for these joints
fk = controller.Soap.ForwardKinematics(0, joints);

% Position of the frame origin
frame = fk.Position;
fprintf('P = [%.4f, %.4f, %.4f]\n', frame.Px, frame.Py, frame.Pz);

% Rotation matrix of the frame, columns N, O, A
R = [frame.Nx frame.Ox frame.Ax; frame.Ny frame.Oy frame.Ay; frame.Nz frame.Oz frame.Az];


controller.Disconnect();

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

controller = StaubliController();
controller.Connect('192.168.0.254');


% Every physical I/O of the controller
ios = controller.Soap.GetAllPhysicalIos();

% .NET arrays are indexed from 1 in Matlab
for i = 1:ios.Length
    io = ios(i);
    fprintf('%s [%s] %s\n', char(io.Name), char(io.TypeStr), char(io.Description));
end


controller.Disconnect();

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

controller = StaubliController();
controller.Connect('192.168.0.254');


% Names as returned by GetAllPhysicalIos, in a .NET string array
names = NET.createArray('System.String', 2);
names(1) = 'BasicIO-1\%I0';
names(2) = 'BasicIO-1\%Q0';

% One state per name, in the same order
states = controller.Soap.ReadIos(names);

for i = 1:states.Length
    fprintf('%s = %g\n', char(names(i)), states(i).Value);
end


controller.Disconnect();

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

controller = StaubliController();
controller.Connect('192.168.0.254');


names = NET.createArray('System.String', 2);
names(1) = 'BasicIO-1\%Q0';
names(2) = 'BasicIO-1\%Q1';

% One value per name. Digital outputs: 1 is on, 0 is off
values = [1, 0];

responses = controller.Soap.WriteIos(names, values);

for i = 1:responses.Length
    if ~responses(i).Found || ~responses(i).Success
        fprintf('%s: write refused\n', char(names(i)));
    end
end


controller.Disconnect();

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

controller = StaubliController();
controller.Connect('192.168.0.254');


tasks = controller.Soap.GetTasks();

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

    % char() gives the name of an enumeration value: Idle, Running, Stopped...
    fprintf('%s (%s), created by %s\n', char(task.Name), char(task.State), char(task.CreatedBy));

    % Runtime error of the task, 0 when there is none
    if task.RuntimeError ~= 0
        fprintf('  Error %d: %s\n', task.RuntimeError, char(task.RuntimeErrorDescription));
    end
end


controller.Disconnect();