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Program and installation files

Open the .urp program and .installation files of a UR cobot on the PC, read and change their XML, and save them again.

How it works
Program files
Installation files
Try it in the demo application
Reference

A program (.urp) and an installation (.installation) of a Universal Robots cobot are compressed XML files. The SDK opens them on the PC, gives their XML, and writes them again. This page shows how, without a robot.

How it works

URProgram.Load and URInstallation.Load read a file and decompress it. XML is the content of the file, as an XElement: read it, change it, add elements. Save writes the file again: to a Stream, or to a folder, with the name of the program as file name.

To get a file from the robot, or to send it back, use SFTP. The XML format is the format of PolyScope: open a file saved by PolyScope to see the elements of an instruction.

Program files

static void Main(string[] args)
{
// Open a program file downloaded from the robot
URProgram program = URProgram.Load(@"C:\temp\my_program.urp");

// Content of the program, as XML
XElement xml = program.XML;

// For example, the installation used by the program
xml.Attribute("installationRelativePath").Value = "default";

// Save in a folder: the file name is the name of the program.
// Then send the file to the robot with SFTP
string path = program.Save(@"C:\temp\modified");
}
}

Click to see the full code

Installation files

static void Main(string[] args)
{
URInstallation installation = URInstallation.Load(@"C:\temp\default.installation");

XElement xml = installation.XML;

// For example, show the speed slider on the Run tab
xml.Attribute("showSpeedSliderOnRunTab").Value = "true";

// Save in a folder: the file name is the name of the installation
string path = installation.Save(@"C:\temp\modified");
}
}

Click to see the full code

A program or an installation changed by the SDK is loaded by PolyScope like any other file. Keep a copy of the original, and check the result in PolyScope or URSim before you use it on a robot.

Try it in the demo application

Everything on this page can be tried without writing code, in the Decompile programs and installation page of the demo application.

Decompile programs and installation page of the Universal Robots SDK demo application

The demo application is open source. The C# source of this page is ArchiveControl.cs.

Reference

Class

URArchive

C#Python

Contains basic methods to encode and decode a UR archive

Member	Type	Description
URArchive(XElement) Constructor		Initializes a new instance of `URArchive` from the specified XML element. xml : The XML element representing the archive content.
Extension Property read only	string	Gets the file extension for this archive type (e.g., ".urp" or ".installation").
FileName Property read only	string	File name that should be used on a UR robot
Name Property	string	Gets or sets the name of this archive, stored as an XML attribute.
NameAttribute Property read only	string	Gets the XML attribute name used to store the archive name.
RootElement Property read only	string	Gets the expected root XML element name for this archive type.
XML Property read only	XElement	XML description of the object
Load(Stream) Method static	XElement	Load a UR archive from stream and decode it as XML
Load(string) Method static	XElement	Load a UR archive from file path and decode it as XML
Save(Stream) Method	void	Save encoded file to a stream
Save(string) Method	string	Save encoded file to a directory, overwrite it if it exists directory : Directory to save the file

Class

URPrograminherits URArchive

C#Python

Functions to compile and decompile a *.urp program file

Member	Type	Description
URProgram(XElement) Constructor		Creates a URProgram from its XML definition. xml : The XML element representing the program content.
Extension Property read only	string	Gets the file extension for this archive type (e.g., ".urp" or ".installation").
NameAttribute Property read only	string	Gets the XML attribute name used to store the archive name.
RootElement Property read only	string	Gets the expected root XML element name for this archive type.
EXTENSION Field	string	File extension for UR program files.
Equals(object) Method	bool	Determines whether the specified object is equal to this program.
GetHashCode() Method	int	Returns a hash code for this program.
Load(Stream) Method static	URProgram	Load a program from stream
Load(string) Method static	URProgram	Load a *.urp program from file path
ToString() Method	string	Returns the file name of this program.

Class

URInstallationinherits URArchive

C#Python

Functions to encode and decode a *.installation file

Member	Type	Description
URInstallation(XElement) Constructor		Creates a URInstallation from its XML definition. xml : The XML element representing the installation content.
Extension Property read only	string	Gets the file extension for this archive type (e.g., ".urp" or ".installation").
NameAttribute Property read only	string	Gets the XML attribute name used to store the archive name.
RootElement Property read only	string	Gets the expected root XML element name for this archive type.
EXTENSION Field	string	File extension for UR installation files.
Equals(object) Method	bool	Determines whether the specified object is equal to this installation.
GetHashCode() Method	int	Returns a hash code for this installation.
Load(Stream) Method static	URInstallation	Load an installation file from stream
Load(string) Method static	URInstallation	Load a *.installation file from path
ToString() Method	string	Returns the file name of this installation.

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Program and installation files

How it works

Program files

Installation files

Try it in the demo application

Reference