ABB SDK

// Read a RAPID variable
var counter = robot.Rws.Rapid.GetSymbolValue("RAPID/T_ROB1/MainModule/nCounter");
Console.WriteLine(counter.Value);

// Write it back
robot.Rws.Mastership.Request();
robot.Rws.Rapid.SetSymbolValue("RAPID/T_ROB1/MainModule/nCounter", "42");
robot.Rws.Mastership.Release();

// Start the program
robot.Rws.Rapid.ResetProgramPointer();
robot.Rws.Rapid.Start();

// Read every signal of the controller
foreach (var signal in robot.Rws.Io.GetSignals())
{
    Console.WriteLine($"{signal.Name} = {signal.LogicalValue} ({signal.Type})");
}

// Read and write one signal
var gripper = robot.Rws.Io.GetSignal("Local", "DRV_1", "DO_Gripper");
robot.Rws.Io.SetSignalValue("Local", "DRV_1", "DO_Gripper", 1);

// Send 3 pulses of 500 ms
robot.Rws.Io.PulseSignal("Local", "DRV_1", "DO_Gripper", 1, 3, 500, 500);

// Cartesian position of the tool
var robTarget = robot.Rws.MotionSystem.GetRobTarget("ROB_1");
Console.WriteLine($"X={robTarget.X} Y={robTarget.Y} Z={robTarget.Z}");

// Joint angles
var jointTarget = robot.Rws.MotionSystem.GetJointTarget("ROB_1");
Console.WriteLine($"Axis 1 = {jointTarget.RobotAxes.Axis1}");

// Forward kinematics, without moving the robot
var toolFrame = new Pose(0, 0, 100, new Quaternion(1, 0, 0, 0));
var pose = robot.Rws.MotionSystem.GetPoseFromJoints("ROB_1", toolFrame, jointTarget);

// Who am I talking to
var identity = robot.Rws.Controller.GetIdentity();
Console.WriteLine($"{identity.Name} ({identity.Type}, {identity.MacAddress})");

// RobotWare version and installed options
var system = robot.Rws.System.GetInfo();
Console.WriteLine($"RobotWare {system.Version}");
Console.WriteLine(robot.Rws.Controller.HasOption("Multitasking"));

// Full controller backup
robot.Rws.Controller.CreateBackup("/hd0a/MyBackup");
Console.WriteLine(robot.Rws.Controller.GetBackupState());

// Browse a directory of the controller
DirectoryListing listing = robot.Rws.File.ListDirectory("/hd0a/RobotWare");

foreach (FileItem file in listing.Files)
{
    Console.WriteLine($"{file.Name} : {file.Size} bytes");
}

// Download a RAPID module and upload it back
string module = robot.Rws.File.GetFileAsText("/hd0a/MyProgram/MainModule.mod");
robot.Rws.File.UploadFileFromText("/hd0a/MyProgram/MainModule.mod", module);

// State of the robot
Console.WriteLine(robot.Rws.Panel.GetOperationMode());
Console.WriteLine(robot.Rws.Panel.GetControllerState());
Console.WriteLine(robot.Rws.Panel.GetSpeedRatio());

// Last events of every domain
foreach (var domain in robot.Rws.Elog.GetDomains())
{
    foreach (var message in robot.Rws.Elog.GetMessages(domain.Number, maxCount: 5))
    {
        Console.WriteLine($"[{message.Timestamp}] {message.Type} : {message.Title}");
    }
}