Connect to the robot

Connect to a UR robot

After creating an instance UR of your cobot, you need to call the Connect method to initiate communication with the robot.

This method takes as parameter a ConnectParameters object which describes the functionalities to be activated and the parameters of each feature.

The Connect() method can throw a InvalidLicenseException if your trial period is over or if your license key is invalid.

Please refer to the specific page for each protocol to understand the parameters.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;
using UnderAutomation.UniversalRobots.SocketCommunication;
public class Connect
static void Main(string[] args)
// Create a new robot instance
var robot = new UR();
// Create parameters and enable all services you need
var parameters = new ConnectParameters("");
// Enable Primary Interface
parameters.PrimaryInterface.Enable = true;
// Select exchanged data
parameters.Rtde.Enable = true;
parameters.Rtde.Frequency = 500; // Hz
parameters.Rtde.InputSetup.Add(RtdeInputData.InputDoubleRegisters, 42);
parameters.Rtde.OutputSetup.Add(RtdeOutputData.InputIntRegisters, 0);
// Enable Dashboard commands
parameters.Dashboard.Enable = true;
// XML-RPC server on port 50000
parameters.XmlRpc.Enable = true;
parameters.XmlRpc.Port = 50000;
// Socket server on port 50001
parameters.SocketCommunication.Enable = true;
parameters.SocketCommunication.Port = 50001;
// Enable SSH commands and files
parameters.Ssh.EnableSsh = true;
parameters.Ssh.EnableSftp = true;
parameters.Ssh.Username = "ur";
parameters.Ssh.Password = "easybot";
// Connect to the robot
// Work with library
Members of ConnectParameters :
public class ConnectParameters {
public ConnectParameters()
public ConnectParameters(string ip)
public DashboardConnectParameters Dashboard { get; set; }
public string IP { get; set; }
public bool PingBeforeConnecting { get; set; }
public PrimaryInterfaceConnectParameters PrimaryInterface { get; set; }
public RtdeConnectParameters Rtde { get; set; }
public SocketCommunicationConnectParameters SocketCommunication { get; set; }
public SshConnectParameters Ssh { get; set; }
public XmlRpcConnectParameters XmlRpc { get; set; }


The Disconnect() method stops all services.

Try it with the Windows example

Visit the Download page to get the latest desktop example.

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