소프트웨어 라이브러리

// 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();

// 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);

// 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);

// 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);

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}");

// 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}");