Dashboard Server: remote commands

// Returns the current robot state. (From FW 1.6)
public CommandResponse<RobotModes> GetRobotMode()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetRobotMode();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  RobotModes robotMode = response.Value;
}

// Powers on the robot arm. (From FW 3.0)
public CommandResponse PowerOn()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.PowerOn();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Powers off the robot arm. (From FW 3.0)
public CommandResponse PowerOff()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.PowerOff();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Releases the brakes. (From FW 3.0)
public CommandResponse ReleaseBrake()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.ReleaseBrake();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Closes the current popup and unlocks protective stop. (From FW 3.1)
public CommandResponse UnlockProtectiveStop()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.UnlockProtectiveStop();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Shuts down and turns off robot and controller. Closes the connection. (From FW 1.4)
public CommandResponse Shutdown()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.Shutdown();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Start loading the specified program. (From FW 1.4)
Returns when both program and associated installation has loaded (or failed).
The load command fails if the associated installation requires confirmation of safety.The return value in this case will be 'Error while loading program'.
public CommandResponse LoadProgram(string programName)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.LoadProgram("prg1.urp");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns the path of the loaded program. If not program is loaded, Value member is null. (From FW 1.6)
public CommandResponse<string> GetLoadedProgram()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetLoadedProgram();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  string loadedProgram = response.Value;
}

// Starts program, if any program is loaded and robot is ready. (From FW 1.4)
Returns failure if the program fails to start.
public CommandResponse Play()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.Play();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Stops running program. (From FW 1.4)
Returns failure if the program fails to stop
public CommandResponse Stop()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.Stop();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Pauses the running program . (From FW 1.4)
Returns failure if the program fails to pause
public CommandResponse Pause()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.Pause();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns a True value is a program is running. (From FW 1.6)
public CommandResponse<bool> IsProgramRunning()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.IsProgramRunning();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  bool isProgramRunning = response.Value;
}

// Returns the state of the active program and path to loaded program file, or STOPPED if no program is loaded
public CommandResponse<ProgramState> GetProgramState()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetProgramState();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  ProgramState state = response.Value;
}

// Returns the save state of the active program and path to loaded program file. (From FW 1.8.11997)
public CommandResponse<ProgramSaveState> IsProgramSaved()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.IsProgramSaved();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  ProgramSaveState state = response.Value;
}

// Shows a popup on Polyscope with the specified message. The popup-text will be translated to the selected language, if the text exists in the language file. (From FW 1.6)
public CommandResponse ShowPopup(string message)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.ShowPopup("This is a popup message !");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Closes the popup (From FW 1.6)
public CommandResponse ClosePopup()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.ClosePopup();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Adds log-message to the Log history. (From FW 1.8.11657)
public CommandResponse AddToLog(string message)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.AddToLog("This is a log message !");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns the version of the Polyscope software (From FW 1.8.14035)
public CommandResponse<PolyscopeVersion> GetPolyscopeVersion()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetPolyscopeVersion();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns serial number of the robot (FW 3.12 and from FW 5.6)
public CommandResponse GetSerialNumber()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetSerialNumber();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns the robot model (UR3, UR5, UR10, UR16, ...). (FW 3.12 and from FW 5.6)
public CommandResponse<RobotModels> GetRobotModel()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetRobotModel();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  RobotModels model = response.Value;
}

// Loads the specified installation file (From FW 3.2.18654)
public CommandResponse LoadInstallation(string installation)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.LoadInstallation("default.installation");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns the operational mode. (From FW 5.6)
public CommandResponse<OperationalModes> GetOperationalMode()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetOperationalMode();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  OperationalModes mode = response.Value;
}

// Controls the operational mode. See User manual for details. If this function is called the operational mode cannot be changed from PolyScope, and the user password is disabled. OperationalModes.None is not a valid operational mode. (From FW 5.0.0)
public CommandResponse SetOperationalMode(OperationalModes mode)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.SetOperationalMode(OperationalModes.Manual);
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// The operational mode can again be changed from PolyScope, and the user password is enabled. (From FW 5.0.0)
public CommandResponse ClearOperationalMode()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.ClearOperationalMode();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Returns the remote control status of the robot. If the robot Is In remote control it returns False And If remote control Is disabled Or robot Is in local control it returns false. (From FW 5.6)
public CommandResponse<bool> IsInRemoteControl()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.IsInRemoteControl();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  bool isRemoteControl = response.Value;
}

// Returns the current safety status. (From FW 3.11 to 3.12 and from FW 5.5)
public CommandResponse<SafetyStatus> GetSafetyStatus()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetSafetyStatus();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  SafetyStatus status = response.Value;
}

// Closes a safety popup. (From FW 3.1)
public CommandResponse CloseSafetyPopup()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.CloseSafetyPopup();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Restarts the safety. Used when robot gets a safety fault or violation to restart the safety. After safety has been rebooted the robot will be in Power Off. (From FW 3.7 to 3.12.0 and from 5.1.0)
public CommandResponse RestartSafety()

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.RestartSafety();
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}

// Get variable value and estimate its type
public CommandResponse<GlobalVariable> GetVariable(string name)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.GetVariable("myVar");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);

  // Get returned value
  GlobalVariable variable = response.Value;
}

// Send a custom command to the Dashboard Server port
public CommandResponse SendCustomDashboardCommand(string command)

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Call the command
  var response = ur.Dashboard.SendCustomDashboardCommand("robotmode");
  
  if(response.Succeed) Console.WriteLine("Succeed");
  else Console.WriteLine("Command failed");
  
  Console.WriteLine(response.Message);
}