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The archive is made of 2 folders :

  • Libraries : Contains DLL binaries for each supported architectures
    • .NET Framework 2.0 to 4.7.2
    • .NET Core 2.0 to 3.0
    • .NET Standard 2.0 and 2.1
  • Examples : A list of ready to use compiled examples for Windows, Linux ans MacOS. Visual Studio 2012, 2015, 2017 or 2019 is needed to compile them :
    • Windows Forms GUI example
    • Console Example for architectures : win-x86, win-x64, win-arm, linux-x64, linux-arm, osx-arm
    • Node.js
    • Python

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Get started

Please first extract file UniversalRobotsSDK_UnderAutomation.zip.

All examples below can be modified according to your needs.

Windows Forms .NET Framework example

Windows Forms .NET Framework example is located in : UniversalRobotsSDK_UnderAutomation\Examples\WindowsDesktop\bin\Release\WindowsDesktopURExample.exe.

This example contains all features of UnderAutomation Universal Robots SDK.

Winforms example

Winforms example streaming data

Winforms example commands

Console example

Console example is located in : UniversalRobotsSDK_UnderAutomation\Examples\ConsoleWindowsLinuxMac\bin. In this folder, the example is compiled for the following architectures :

  • Windows 32 bits (win-x86) : old Windows systems
  • Windows 64 bits (win-x64) : recent Windows systems
  • Windows IOT (win-arm) : for example windows IOT for Raspberry PI
  • Linux 64 bits (linux-x64) : Recent linux system like Ubuntu 19.04
  • Linux ARM (linux-arm) : For embedded linux like Raspbian for Raspberry PI

It is a .NET Core 3.0 console application that prints cartesian position of the tool center point of the robot.

Console Windows example

Console Linux Ubuntu 19.04 example

Python example

Console example is located in : UniversalRobotsSDK_UnderAutomation\Examples\Python\run.py. It needs the library Pythonnet to work. Just install it with pip : pip install pythonnet. You can then run the example with the command python run.py.

Python example

Node.js example

Console example is located in : UniversalRobotsSDK_UnderAutomation\Examples\node.js\run.js. It needs the npm package edge.js to work. Install this node module with the command npm install. You can then run the example with the command node run.js.

Node js example

MATLAB integration

A MATLAB integration is also possible with the function NET.LoadAssembly('UnerAutomation.UniversalRobots.dll');. Then, all features are available in MATLAB. Just refer the .NET MATLAB documentation : Getting Started with Microsoft .NET.

LabVIEW integration

National Instruments LabVIEW example is located in : UniversalRobotsSDK_UnderAutomation\Examples\LabVIEW\URExample.vi. It has been tested with LabVIEW 2019 SP1.

LabVIEW example

Try it with offline robot simulator

If you don’t have a real robot but want to test this library, please follow the instructions.

VirtualBox installer

  • Change your VirtualBox Host-Only Network IP address to a static IP like 192.168.0.10 local network configuration

  • Open Oracle VM Virtualbox, press CTRL+A (or Machine menu / Add…) and select the downloaded URSim_VIRTUAL-x.x.x.xxxxx.vbox file.

  • Open Configuration, go to network and attach to Host only Adapter (Réseau privé hôte in french) named Virtualbox Host-only Ethernet Adapter and press OK. VirtualBox network configuration

  • Start the virtual machine and Lubuntu should boot.

  • Change Lubuntu IP Address Click Start menu / Run and execute command sudo leafpad /etc/network/interfaces to edit interfaces file. VirtualBox network configuration

Change the content of interfaces file to assign static IP 192.168.0.56 with the following configuration :

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
auto eth0
iface eth0 inet static
  address 192.168.0.56
  network 192.168.0.0
  netmask 255.255.255.0
  gateway 192.168.0.1

VirtualBox network configuration

  • Restart Lubuntu by clicking Start menu / Logout / Reboot

  • When VM is restarted, launch the URSim version of your choice (UR3, UR5, UR10 or UR16)

  • The first time you launch URSim you should click on “Confirm Safety” popup button.

  • You can then enjoy the Windows Forms Example by connecting to 192.168.0.56