Connect to the robot

Connect

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("192.168.0.1");

        // 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.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpSpeed);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpForce);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualCurrent);
        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
        robot.Connect(parameters);

        //...

        // Work with library

        //...

        robot.Disconnect();
    }
}

Members of ConnectParameters :

public class ConnectParameters {
     public ConnectParameters()
     public ConnectParameters(string ip)
     public DashboardConnectParameters Dashboard { get; set; }
     public InterpreterModeConnectParameters InterpreterMode { 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; }
}

Disconnect

The Disconnect() method stops all services.

Try it with the Windows example

Visit the Download page to get the latest desktop example.

Documentation home

Configure the UR simulator (URSIM)

질문이요?

Connect to the robot

On this page :

Connect

Disconnect

Try it with the Windows example