UnderAutomation
    • Startseite
  • Produkte
    • Universal Robots SDK
      • Überblick
      • Herunterladen
      • Dokumentation
        • Overview
        • Get started with .NET
        • Get started with LabVIEW
        • Get started with Python
        • Get started with Matlab
        • Connect to the robot
        • Configure the UR simulator (URSIM)
        • Licensing
        • RTDE : Real-Time Data Exchange
        • Primary Interface : Data streaming
        • Remote send script
        • Dashboard Server : Remote Commands
        • SFTP file handling
        • SSH Linux commands
        • XML-RPC
        • Interpreter Mode
        • Socket communication
        • Forward and Inverse Kinematics
        • Convert position types
        • Open and edit program and installation files
        • Reading & Writing Global Variables
        • Reading & Writing Registers
    • Fanuc SDK
    • Yaskawa SDK
    • Staubli SDK
    • Angebot • Bestellung
    • Lizenz
Eine Frage?

[email protected]

Kontakt
UnderAutomation
  • Startseite
  • Produkte
      • Überblick
      • Herunterladen
      • Dokumentation
      • Überblick
      • Herunterladen
      • Dokumentation
      • Überblick
      • Herunterladen
      • Dokumentation
      • Überblick
      • Herunterladen
      • Dokumentation
  • Angebot • Bestellung
  • Kontakt
⌘Q
This page is only available in English.
Universal Robots SDK documentation
Convert position types
Documentation home
Reading & Writing Global Variables

Open and edit program and installation files

Decompile UR files like URP program and installation files

  • Edit program files
  • Edit installation files
  • Try it with the Windows example
  • API Reference

Edit program files

The library can open and edit program files with .urp extension. You can access and modify inner XML.

using System.Xml.Linq;
using UnderAutomation.UniversalRobots.Files;
class FileProgram
{
static void Main(string[] args)
{
/**/
URProgram prg = URProgram.Load(@"C:\myPrg.urp");
XElement innerXml = prg.XML;
// Set program associated installation file
// You can also add instructions or change other attributes
innerXml.Attribute("installationRelativePath").Value = "default";
// Save modified program files
// You could then transfer this file to the robot with SFTP
prg.Save(@"C:\myPrg.urp");
/**/
}
}

Edit installation files

The library can open and edit installation files with .installation extension.

using System.Xml.Linq;
using UnderAutomation.UniversalRobots.Files;
class FileInstallation
{
static void Main(string[] args)
{
/**/
URInstallation prg = URInstallation.Load(@"C:\default.installation");
XElement innerXml = prg.XML;
// Change your installation settings
innerXml.Attribute("showSpeedSliderOnRunTab").Value = "true";
// Save modified program files
// You could then transfer this file to the robot with SFTP
prg.Save(@"C:\default.installation");
/**/
}
}

Try it with the Windows example

API Reference

Members of Files.URArchive :
public abstract class URArchive {
protected URArchive(XElement xml)
protected abstract string Extension { get; }
// File name that should be used on a UR robot
public string FileName { get; }
// Load a UR archive from stream and decode it as XML
public static XElement Load(Stream fileStream)
// Load a UR archive from file path and decode it as XML
public static XElement Load(string filePath)
public string Name { get; set; }
protected abstract string NameAttribute { get; }
protected abstract string RootElement { get; }
// Save encoded file to a stream
public void Save(Stream stream)
// Save encoded file to a directory, overwrite it if it exists
public string Save(string directory)
// XML description of the object
public XElement XML { get; }
}
Members of Files.URProgram :
public class URProgram : URArchive {
// Create a URProgram from its XML definition
public URProgram(XElement xml)
public const string EXTENSION = ".urp"
protected override string Extension { get; }
// Load a program from stream
public static URProgram Load(Stream urpStream)
// Load a *.urp program from file path
public static URProgram Load(string urpFile)
protected override string NameAttribute { get; }
protected override string RootElement { get; }
}
Members of Files.URInstallation :
public class URInstallation : URArchive {
// Create a URProgram from its XML definition
public URInstallation(XElement xml)
public const string EXTENSION = ".installation"
protected override string Extension { get; }
// Load an installation file from stream
public static URInstallation Load(Stream urpStream)
// Load a *.installation file from path
public static URInstallation Load(string urpFile)
protected override string NameAttribute { get; }
protected override string RootElement { get; }
}
Convert position types
Documentation home
Reading & Writing Global Variables

Integrieren Sie problemlos Universal Robots-, Fanuc-, Yaskawa- oder Staubli-Roboter in Ihre .NET-, Python-, LabVIEW- oder Matlab-Anwendungen

UnderAutomation
KontaktLegal
Produkte
Universal Robots SDKFanuc SDKYaskawa SDKStaubli SDK
enEnglish
frFrançais
deDeutsch
esEspañol
zh中文
ja日本語
ko한국어

© All rights reserved.