REST API (PolyscopeX)

The REST API provides a modern HTTP-based interface for controlling PolyscopeX robots. It replaces the legacy Dashboard Server on new UR controllers.

Quick Start

using UnderAutomation.UniversalRobots;

var robot = new UR();

// Connect with REST API enabled
robot.Connect(new ConnectParameters("192.168.0.1")
{
    Rest = { Enable = true }
});

// Control the robot
robot.Rest.PowerOn();
robot.Rest.BrakeRelease();
robot.Rest.LoadProgram("my_program");
robot.Rest.Play();

// Get program state
var state = robot.Rest.GetProgramState();
Console.WriteLine($"State: {state.Value.State}"); // Playing, Stopped, Paused

Standalone Client

Use RestClient independently from the main UR class:

using UnderAutomation.UniversalRobots.Rest;

var client = new RestClient();
client.Enable("192.168.0.1");

client.PowerOn();
client.LoadProgram("my_program");
client.Play();

client.Disable();

Enable Remote Mode

Your robot must be in Remote mode to accept commands. Toggle the switch at the top right of PolyscopeX:

Connection Parameters

Configure the REST client via RestConnectParameters:

robot.Connect(new ConnectParameters("192.168.0.1")
{
    Rest = 
    { 
        Enable = true,
        Port = 80,
        Version = RestApiVersion.V1,
        TimeoutMs = 10000
    }
});

Robot State Control

Control the robot's operational state:

PowerOn

Power on the robot.

RestApiResponse response = robot.Rest.PowerOn();
if (response.Succeed)
    Console.WriteLine("Robot powered on");

PowerOff

Power off the robot.

robot.Rest.PowerOff();

BrakeRelease

Release the robot brakes after powering on.

robot.Rest.PowerOn();
robot.Rest.BrakeRelease();

UnlockProtectiveStop

Unlock the robot from a protective stop state.

robot.Rest.UnlockProtectiveStop();

RestartSafety

Restart the safety system.

robot.Rest.RestartSafety();

ChangeRobotState

Generic method to change robot state:

robot.Rest.ChangeRobotState(RobotStateAction.POWER_ON);
robot.Rest.ChangeRobotState(RobotStateAction.BRAKE_RELEASE);

Available actions:

• RobotStateAction.POWER_ON
• RobotStateAction.POWER_OFF
• RobotStateAction.BRAKE_RELEASE
• RobotStateAction.UNLOCK_PROTECTIVE_STOP
• RobotStateAction.RESTART_SAFETY

Program Control

Control program execution:

LoadProgram

Load a program by name. The .urp extension is optional.

robot.Rest.LoadProgram("my_program");
// or
robot.Rest.LoadProgram("my_program.urp");

Play

Start playing the loaded program.

robot.Rest.Play();

Pause

Pause the running program.

robot.Rest.Pause();

Stop

Stop the running program.

robot.Rest.Stop();

Resume

Resume a paused program.

robot.Rest.Resume();

GetProgramState

Get the current program state.

RestApiResponse<ProgramStateResponse> response = robot.Rest.GetProgramState();

if (response.Succeed)
{
    RestProgramState state = response.Value.State;
    // state: Playing, Stopped, Paused, Unknown
}

ChangeProgramState

Generic method to change program state:

robot.Rest.ChangeProgramState(ProgramStateAction.play);
robot.Rest.ChangeProgramState(ProgramStateAction.stop);

Available actions:

• ProgramStateAction.play
• ProgramStateAction.pause
• ProgramStateAction.stop
• ProgramStateAction.resume

Response Handling

All methods return RestApiResponse or RestApiResponse<T>:

RestApiResponse response = robot.Rest.PowerOn();

// Check success
if (response.Succeed)
{
    Console.WriteLine("Success");
}
else
{
    Console.WriteLine($"Error: {response.Message}");
    Console.WriteLine($"HTTP Status: {response.StatusCode}");
    Console.WriteLine($"Raw response: {response.RawResponse}");
}

Error Handling

Handle errors using the InternalErrorOccured event:

robot.Rest.InternalErrorOccured += (sender, e) =>
{
    Console.WriteLine($"REST API Error: {e.Message}");
    Console.WriteLine($"Exception: {e.Exception}");
};

API Endpoints

The SDK maps to these PolyscopeX REST API endpoints:

Migration from Dashboard Server

Migrating from legacy Dashboard Server to REST API:

// Dashboard Server (CB-series / e-Series)
robot.Connect(new ConnectParameters("192.168.0.1")
{
    Dashboard = { Enable = true }
});
robot.Dashboard.PowerOn();
robot.Dashboard.LoadProgram("/programs/my_program.urp");
robot.Dashboard.Play();

// REST API (PolyscopeX)
robot.Connect(new ConnectParameters("192.168.0.1")
{
    Rest = { Enable = true }
});
robot.Rest.PowerOn();
robot.Rest.LoadProgram("my_program");
robot.Rest.Play();

Key differences:

• REST API uses HTTP (port 80) instead of TCP socket (port 29999)
• Program names don't require full path
• REST API returns structured RestApiResponse objects

Properties

if (robot.Rest.Initialized)
{
    Console.WriteLine($"Connected to {robot.Rest.IP}:{robot.Rest.Port}");
}