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SOAP Overview

This documentation describes the usage of the Staubli native SOAP protocol to interact with industrial robot controllers programmatically.

Overview

Staubli industrial robot controllers expose a SOAP-based interface to interact with third applications, like SRS (Staubli Robotics Suite) or this library.

This includes retrieving status information, controlling movement, accessing I/Os, handling applications, and managing tasks.

To use this API, you must connect to a controller over its network address and authenticate using SOAP credentials.

This SDK is compatible with CS8 and CS9 controllers, providing a unified interface for both.

Connecting to the Controller

Initialization

To begin any SOAP interaction, create a StaubliController and configure ConnectionParameters:

IP Address: The robot controller's network address.
SOAP Enable: Enables the SOAP layer.
Port: Usually 851.
Authentication: Username and password, typically "default".

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Common;
using UnderAutomation.Staubli.Soap.Data;


public class Connect
{
  static void Main()
  {
    
    StaubliController controller = new StaubliController();

    var parameters = new ConnectionParameters();
    parameters.PingBeforeConnect = true; // Send a ping request before connecting (Optional, default is true)
    parameters.Address = "192.168.0.1";
    parameters.Soap.Enable = true; // Enable SOAP communication (default is true)
    parameters.Soap.Port = SoapConnectParameters.DEFAULT_PORT; // default is 851
    parameters.Soap.User = "default"; // default is "default"
    parameters.Soap.Password = "default"; // default is "default"

    // Connect to the Staubli controller
    controller.Connect(parameters);

    bool isConnected = controller.Soap.Enabled; // Check if the SOAP connection is enabled

    PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos(); // Example of using SOAP to get all physical I/Os
    
  }
}

Retrieving System Information

Robots

Use GetRobots() to retrieve connected robot arms:

Arm: Model name (e.g. TX2-140).
MountType: Physical installation (Floor, Ceiling, Wall).
Kinematic: Configuration (Anthropomorphic, SCARA, etc.).

Class

Robot

C#Python

Member	Type	Description
Robot() Constructor
Arm Property	string
DiameterAxis3 Property	DiameterAxis3
Kinematic Property	Kinematic
LengthAxis3 Property	LengthAxis3
MountType Property	MountType
Tuning Property	string

Controller Parameters

Call GetControllerParameters() to read system-level configuration:

Returns an array of name/value pairs (e.g., CycleTime = 0.004s).

Class

Parameter

C#Python

Member	Type	Description
Parameter() Constructor
Key Property	string
Name Property	string
Value Property	string

DH Parameters

Denavit-Hartenberg parameters are retrieved via GetDhParameters():

Describes the robot's mechanical structure.
Parameters include Alpha, Beta, Theta, A, D.

Class

DhParameters

C#Python

Member	Type	Description
DhParameters() Constructor
A Property	double
Alpha Property	double
Beta Property	double
D Property	double
Theta Property	double

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class GetInfos
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    
    Robot[] robots = controller.Soap.GetRobots(); // Get all robots driven by the controller
    foreach (var robot in robots)
    {
      Console.WriteLine($"Arm: {robot.Arm}"); // i.e. TX2-140
      Console.WriteLine($"Mount type: {robot.MountType}"); // i.e. Floor, Ceiling, Wall
      Console.WriteLine($"Kinematic: {robot.Kinematic}"); // i.e. ANTHROPOMORPH6, SCARA, ...
      // see Robot class for more properties
    }

    // ---------------

    Parameter[] controllerParams = controller.Soap.GetControllerParameters(); // Get controller parameters
    foreach (var param in controllerParams)
      Console.WriteLine($"{param.Name} = {param.Value}"); // i.e. CycleTime = 0.004s

    // ---------------

    DhParameters[] dhParameters = controller.Soap.GetDhParameters(robot: 0); // Get DH parameters of the first robot
    foreach (var dh in dhParameters)
      Console.WriteLine($"{dh.Alpha} - {dh.Beta} -  {dh.Theta} -  {dh.A} -  {dh.D}");
    
  }
}

Position and Joints

GetCurrentJointPosition(): Returns only joint angles.
GetCurrentCartesianJointPosition(): Returns tool position in space (XYZ + rotation) and joint angles.

Class

CartesianJointPosition

C#Python

Represents the joint positions and the Cartesian position of a robot end effector.

Member	Type	Description
CartesianJointPosition() Constructor
CartesianPosition Property	CartesianPosition	The Cartesian position of the robot end effector.
JointsPosition Property	double[]	The joint positions in radians.

Class

CartesianPosition

C#Python

Member	Type	Description
CartesianPosition() Constructor
Rx Property	double
Ry Property	double
Rz Property	double
X Property	double
Y Property	double
Z Property	double

Returned types include:

CartesianPosition: X, Y, Z, Rx, Ry, Rz.
JointsPosition: Array of joint values in radians.

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class CurrentPosition
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    
    // Get the current flange position of the first robot in world coordinates
    CartesianJointPosition position = controller.Soap.GetCurrentCartesianJointPosition(robot: 0, tool: null, frame: null);

    double[] jointPosition1 = position.JointsPosition; // Joint position in radians
    CartesianPosition cartesianPosition = position.CartesianPosition;
    Console.WriteLine($"X: {cartesianPosition.X}, Y: {cartesianPosition.Y}, Z: {cartesianPosition.Z}");
    Console.WriteLine($"Rx: {cartesianPosition.Rx}, Ry: {cartesianPosition.Ry}, Rz: {cartesianPosition.Rz}");

    // ---------------

    // Get only the current joint position of the first robot
    double[] jointPosition2 = controller.Soap.GetCurrentJointPosition(robot: 0);

    // ---------------

    // Get the joint ranges (min/max angle of each joint)
    controller.Soap.GetJointRange(robot: 0);
    
  }
}

Kinematics

Forward Kinematics

Use ForwardKinematics() to compute end-effector position from joint angles:

Returns a Frame (position/orientation matrix).
Includes Config, which defines the robot's pose solution.

Interface

IForwardKinematics

C#Python

Member	Type	Description
Config Property read only	Config
Position Property read only	Frame

Inverse Kinematics

Use ReverseKinematics() to compute joint angles from a desired Frame:

Inputs: Desired pose, current joint state, configuration, and joint limits.
Returns IReverseKinematics, including solution result and joint values.

Interface

IReverseKinematics

C#Python

Member	Type	Description
Joint Property read only	double[]
Result Property read only	ReversingResult

Class

Frame

C#Python

Represents a 3D transformation composed of orientation (a 3x3 rotation matrix) and position (a translation vector) in space. Used to define the pose of a robot or tool in a 3D environment. Matrix representation: [ Nx Ox Ax Px ] [ Ny Oy Ay Py ] [ Nz Oz Az Pz ] [ 0 0 0 1 ]

Member	Type	Description
Frame() Constructor		Default constructor.
Ax Property	double	X component of the local Z-axis vector (Approach X).
Ay Property	double	Y component of the local Z-axis vector (Approach Y).
Az Property	double	Z component of the local Z-axis vector (Approach Z).
Nx Property	double	X component of the local X-axis vector (Normal X).
Ny Property	double	Y component of the local X-axis vector (Normal Y).
Nz Property	double	Z component of the local X-axis vector (Normal Z).
Ox Property	double	X component of the local Y-axis vector (Orientation X).
Oy Property	double	Y component of the local Y-axis vector (Orientation Y).
Oz Property	double	Z component of the local Y-axis vector (Orientation Z).
Px Property	double	X coordinate of the frame's origin in global space (Pose X).
Py Property	double	Y coordinate of the frame's origin in global space (Pose Y).
Pz Property	double	Z coordinate of the frame's origin in global space (Pose Z).

Class

Config

C#Python

Member	Type	Description
Config() Constructor
AnthroConfig Property	AnthroConfig
ScaraConfig Property	ScaraConfig
VrbxConfig Property	VrbxConfig

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = controller.Soap.GetJointRange(robot: 0);

    
    // Get forward kinematics
    IForwardKinematics fk = controller.Soap.ForwardKinematics(
      robot: 0, // Index of the robot (0 for the first robot)
      joints // double[] of joint positions in radians
    );

    // Position matrix
    Frame position = fk.Position;

    // Position configuration
    Config config = fk.Config; // i.e. Righty/Lefty, Elbow Positive/Negtive, ...

    // -----------------

    // Get inverse kinematics
    IReverseKinematics ik = controller.Soap.ReverseKinematics(
      robot: 0, // Index of the robot (0 for the first robot)
      joints,
      position,
      config,
      range
    );

    if (ik.Result == ReversingResult.Success)
      foreach (double joint in ik.Joint) Console.WriteLine(joint);
    
  }
}

Motion and Movement

Power Control

SetPower(true/false): Powers the robot on or off.

Enum

PowerReturnCode

C#Python

Name	Value	Description
DisableTimeout	3
EnableTimeout	2
OnlyInRemoteMode	4
RobotNotStopped	1
Success	0

Motion Types

Each motion function returns an IMoveResult, indicating success or failure.

MoveL(): Linear Cartesian movement.
MoveJC(): Joint move to a Cartesian frame.
MoveJJ(): Move to specified joint angles.
MoveC(): Circular Cartesian movement using two frames.

Enum

MotionReturnCode

C#Python

Name	Value	Description
MisuseError	3
NotReady	1
ParameterError	2
Success	0	Success, no error occurred.
UnexpectedError	4

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = controller.Soap.GetJointRange(robot: 0);

    
    // Get forward kinematics
    IForwardKinematics fk = controller.Soap.ForwardKinematics(
      robot: 0, // Index of the robot (0 for the first robot)
      joints // double[] of joint positions in radians
    );

    // Position matrix
    Frame position = fk.Position;

    // Position configuration
    Config config = fk.Config; // i.e. Righty/Lefty, Elbow Positive/Negtive, ...

    // -----------------

    // Get inverse kinematics
    IReverseKinematics ik = controller.Soap.ReverseKinematics(
      robot: 0, // Index of the robot (0 for the first robot)
      joints,
      position,
      config,
      range
    );

    if (ik.Result == ReversingResult.Success)
      foreach (double joint in ik.Joint) Console.WriteLine(joint);
    
  }
}

Motion Lifecycle

StopMotion(): Stops current motion immediately.
ResetMotion(): Resets any motion errors.
RestartMotion(): Resumes motion from a paused state.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Motion
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);

    IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, joints);

    Frame position = fk.Position;
    var config = fk.Config;

    MotionDesc motionDesc = new MotionDesc
    {
      Config = config,
      Acceleration = 0.5,
      Deceleration = 0.5,
      Frequency = 100,
      Velocity = 0.5,
      TranslationVelocity = 0.1,
      RotationVelocity = 0.1,
    };

    position.Px += 0.1; // Move 10 cm in X direction
    Frame position2 = new Frame(); // fake position for circular move example

    
    // Power on the controller
    PowerReturnCode powerOnStatus = controller.Soap.SetPower(power: true);

    // Move linear to cartesian position
    IMoveResult moveLResult = controller.Soap.MoveL(
      robot: 0,
      position,
      motionDesc
    );

    // Move joints to cartesian position
    IMoveResult moveJCResult = controller.Soap.MoveJC(
      robot: 0,
      position,
      motionDesc
    );

    // Move joints to joint position
    IMoveResult moveJResult = controller.Soap.MoveJJ(
      robot: 0,
      joints,
      motionDesc
    );

    // Move Circular
    IMoveResult moveCResult = controller.Soap.MoveC(
      robot: 0,
      position,
      position2,
      motionDesc
    );

    // Stop motion
    MotionReturnCode stopStatus = controller.Soap.StopMotion();

    // Reset motion
    MotionReturnCode resetStatus = controller.Soap.ResetMotion();

    // Restart motion
    MotionReturnCode restartStatus = controller.Soap.RestartMotion();
    
  }
}

Input/Output Management

Physical I/Os

Use GetAllPhysicalIos() to list all hardware I/Os:

Each PhysicalIo includes name, type (digital, analog, serial), lockable status, and description.

Class

PhysicalIo

C#Python

Represents a physical I/O on the robot.

Member	Type	Description
PhysicalIo() Constructor
Description Property	string	Description of the physical I/O.
Lockable Property	bool	Indicates whether the physical I/O is lockable.
Name Property	string	Name of the physical I/O.
TypeStr Property	string	Type of the physical I/O (e.g., din, dout, ain, serial, ...).

Read I/O State

Use ReadIos() to retrieve current values:

Includes value, lock status, and simulation status.

Class

PhysicalIoState

C#Python

Member	Type	Description
PhysicalIoState() Constructor
Attribute Property	PhysicalIoAttribute
Locked Property	bool
Simulated Property	bool
State Property	PhysicalIoEnumState
Value Property	double

Class

PhysicalIoAttribute

C#Python

Member	Type	Description
PhysicalIoAttribute() Constructor
AioAttribute Property	PhysicalAioAttribute
DioAttribute Property	PhysicalDioAttribute

Class

PhysicalAioAttribute

C#Python

Member	Type	Description
PhysicalAioAttribute() Constructor
CoefficientA Property	double
CoefficientB Property	double

Class

PhysicalDioAttribute

C#Python

Member	Type	Description
PhysicalDioAttribute() Constructor
Inverted Property	bool

Write I/O State

Use WriteIos() to set values:

Inputs: I/O names and corresponding values (typically 0 or 1 for digital).

Class

PhysicalIoWriteResponse

C#Python

Member	Type	Description
PhysicalIoWriteResponse() Constructor
Found Property	bool
Success Property	bool

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Ios
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    
    // Get all physical I/O ports of the controller
    PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos();
    foreach (var io in ios)
    {
      Console.WriteLine($"Name: {io.Name}");
      Console.WriteLine($"Type: {io.Description}");
      Console.WriteLine($"Lockable: {io.Lockable}"); // i.e. true, false
      Console.WriteLine($"Description: {io.TypeStr}"); // i.e. din, dout, ain, serial
    }

    // -----------------

    // Read I/Os value
    PhysicalIoState[] values = controller.Soap.ReadIos(new[] { @"Socket\test", @"Serial\0", @"FastIO\fOut1", @"CpuUsage\val3" });
    foreach (var value in values)
    {
      Console.WriteLine("Value: " + value.Value);
      Console.WriteLine("Locked: " + value.Locked);
      Console.WriteLine("Simulated: " + value.Simulated);
    }

    // -----------------

    // Write I/Os value
    PhysicalIoWriteResponse[] response = controller.Soap.WriteIos(new[] { "my_io_1", "my_io_2" }, new double[] { 1.0, 0.0 });
    foreach (var res in response)
      Console.WriteLine($"Success: {res.Success} - Found: {res.Found}");
    
  }
}

Application Management

Loading Projects

LoadProject("Disk://myProject/myProject.pjx"): Loads a project from disk.

Application Control

GetValApplications(): Lists running and loaded VAL 3 applications.
StopApplication(): Stops the current application.
StopAndUnloadAll(): Stops and unloads all VAL 3 applications.

Class

ValApplication

C#Python

Member	Type	Description
ValApplication() Constructor
IsCrypted Property	bool
IsRunning Property	bool
Loaded Property	bool
Name Property	string

Task Inspection

Use GetTasks() to get all active tasks:

Includes task name, creator (project path), current line number, and execution state.

Task Lifecycle

TaskKill(): Forcefully stops a task.
TaskSuspend(): Pauses a running task.
TaskResume(): Resumes a suspended task.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Application
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    
    // Load project from disk
    controller.Soap.LoadProject("Disk://myProject/myProject.pjx");


    ValApplication[] applications = controller.Soap.GetValApplications();
    foreach (var application in applications)
      Console.WriteLine($"Application: {application.Name}, Running: {application.IsRunning}");

    // Unload all applications
    controller.Soap.StopAndUnloadAll();

    // Stop running application
    controller.Soap.StopApplication();

    // Get tasks
    ControllerTask[] tasks = controller.Soap.GetTasks(); // Get all tasks
    foreach (var task in tasks)
    {
      Console.WriteLine($"Task: {task.Name}");
      Console.WriteLine($"reated by: {task.CreatedBy}"); // i.e. Disk://myProject/myProject.pjx
      Console.WriteLine($"Line: {task.ProgramLine}");
      Console.WriteLine($"State: {task.State}");
    }

    // Kill task
    controller.Soap.TaskKill(tasks[0].Name, tasks[0].CreatedBy);

    // Suspend task
    controller.Soap.TaskSuspend(tasks[0].Name, tasks[0].CreatedBy);

    // Resume task
    controller.Soap.TaskResume(tasks[0].Name, tasks[0].CreatedBy);
    
  }
}

Notes on Usage

The robot index (robot: 0) usually refers to the first robot connected.
Joint angles are in radians.
Cartesian positions are in meters and radians (Rx, Ry, Rz).

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SOAP Overview

Overview

Connecting to the Controller

Initialization

Example Usage

Retrieving System Information

Robots

Controller Parameters

DH Parameters

Example Usage

Position and Joints

Kinematics

Forward Kinematics

Inverse Kinematics

Example Usage

Motion and Movement

Power Control

Motion Types

Motion Lifecycle

Example Usage

Input/Output Management

Physical I/Os

Read I/O State

Write I/O State

Example Usage

Application Management

Loading Projects

Application Control

Task Inspection

Task Lifecycle

Example Usage

Notes on Usage