biblioteca de programas

// Get robot position
RobotPositionCartesianData position = robot.HighSpeedEServer.GetRobotCartesianPosition();

// Move cartesian
robot.HighSpeedEServer.MoveCartesian(
    x: 1000,
    y: 10, 
    z: 0, 
    rx: 0,
    ry: 0,
    rz: 0, 
    PositionCommandClassification.Cartesian_MM_S, 
    speed:10,
    PositionCommandOperationCoordinate.Robot
);

// Move joints
robot.HighSpeedEServer.MoveJoints(new int[] { 1000, 0, 0, 0, 0, 0 }, PositionCommandClassification.LinkPercent, 10);

// Send Servo ON
robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

// Upload program on robot
robot.HighSpeedEServer.LoadFile("PROGRAM.JBI", File.ReadAllText("PROGRAM.JBI"));

// Select job and start it
robot.HighSpeedEServer.SelectJob("PROGRAM", 1);
robot.HighSpeedEServer.StartJob();

// Get robot status (Play, Error, Alarming, etc.)
RobotStatusData statusData = robot.HighSpeedEServer.GetStatusInformation();

// Read IO 1 to 100
var ioData = robot.HighSpeedEServer.ReadIO(firstIndex: 1, count: 100);

// Write IO 2701 to 2704 (Network input signal)
robot.HighSpeedEServer.WriteIO(2701, new byte[] { 0x01, 0x00, 0xFF, 0x00 });

// Read position registers P[1] to P[4]
var positionData = robot.HighSpeedEServer.ReadPositionVariable(1, 4);

// List all files with extension .JBI (programs)
string[] files = robot.HighSpeedEServer.GetFileList("*.JBI").Files;

// Upload file to robot
robot.HighSpeedEServer.LoadFile("PROGRAM", fileContent, onLoadFileProgress);

// Download file from robot
robot.HighSpeedEServer.GetFile("PROGRAM", onGetFileProgress);

// Delete file
robot.HighSpeedEServer.DeleteFile("PROGRAM.JBI");