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Documentation du SDK Staubli

Connectez votre application aux robots Staubli en quelques lignes de code.

Rien à installer sur le robot

Le SDK utilise les protocoles réseau du contrôleur.

.NET · Python · Matlab

Mêmes fonctionnalités et même API dans chaque langage.

Essai gratuit de 30 jours

Ensuite, une licence perpétuelle, sans abonnement.

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Une question ?

Sur le SDK : contactez-nous
Sur le robot : Robot-Forum

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Documentation du SDK Staubli

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Get started

Get started with .NET

Add the Staubli SDK to a C# or VB.NET project from NuGet or as a DLL, and write a first program for a CS8 or CS9 controller. One managed DLL, no dependency, .NET Framework 3.5 to .NET 10.

Get started with Python

Install the Staubli SDK from PyPI and control a CS8 or CS9 controller from Python 3.7 to 3.13, on Windows, Linux and macOS. Same functions as the .NET library, with Python names.

Get started with Matlab

Load the .NET DLL of the Staubli SDK in Matlab with NET.addAssembly, then read positions, I/O and tasks of a CS8 or CS9 controller from a Matlab script.

Try the SDK with the demo application

A Windows application, one executable and open source, that calls every function of the SDK. Test what your Staubli controller answers before you write any code.

Connect to your robot

Connect to a CS8 or CS9 controller over its SOAP server: network, port, user and password, connection parameters, errors and disconnection.

Test with the Staubli Robotics Suite emulator

Develop without a real robot. Connect the SDK to the CS8 or CS9 controller emulator of Staubli Robotics Suite, like to a real controller.

Licensing

The 30 day trial, the license key and RegisterLicense, the license states, the maintenance and the source license of the Staubli SDK.

AI agent skills

Install the skill of the Staubli SDK in Claude Code, Codex, GitHub Copilot or Cursor, for C# or Python. The agent then answers with the documentation and the API of your SDK version.

SOAP

SOAP overview

The SOAP server of CS8 and CS9 controllers, what the SDK does with it, the units, and the list of topics: robots, position, kinematics, motion, I/O, applications and tasks.

Controller and robots

List the robots of a Staubli controller, read the controller parameters, the Denavit-Hartenberg parameters and the joint ranges of each arm.

Position

Read the current joints and the Cartesian position of a Staubli robot, for the flange or a tool, in the world frame or in another frame.

Kinematics

Compute the forward and inverse kinematics of a Staubli robot on the controller, with the configuration of the arm and the joint ranges.

Motion

Power the arm, set the motion descriptor, send MoveJJ, MoveJC, MoveL and MoveC moves, then stop, restart or cancel them.

Inputs and outputs

List the physical I/O of a Staubli controller, read several I/O in one request and write outputs, without a VAL 3 program.

VAL 3 applications

List the VAL 3 applications of a Staubli controller, load a project from its disk, start it, stop it and unload it from a PC.

VAL 3 tasks

List the VAL 3 tasks with their state, program line and runtime error, then suspend, resume or kill a task.

Files

Files overview

Access the files of a CS8 or CS9 controller: FTP server of a real controller, or .controller file of a controller emulated by Staubli Robotics Suite. Connection, paths, /usr/usrapp and errors.

List and transfer files

List the files of a Staubli controller, upload and download files, create, rename and delete files and folders, with synchronous and asynchronous methods.

Send a VAL 3 application

Send the folder of a VAL 3 application to /usr/usrapp on the controller in one call, then load and start it with the SOAP methods.

How-To Articles

Get the robot position

Read the position of a Staubli robot from C# or Python: joints, flange or tool position, and which method to choose. Complete program included.

Read and write I/O

Find the I/O names, wait for an input and switch an output of a Staubli CS8 or CS9 controller from C# or Python.

Move the robot from a PC

Power the arm and move a Staubli robot in a straight line from C# or Python, without a VAL 3 program. Which move to choose, and the frequent errors.

Run a VAL 3 program

Load a VAL 3 project from the disk of the controller, start it, check its tasks and stop it, from C# or Python.

Monitor the state of the robot

Poll the applications and the VAL 3 tasks of a Staubli controller, print each change of state and each runtime error.

Legal

Legal notice and acknowledgements

Legal notice and acknowledgements for the UnderAutomation Staubli SDK.

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