Software library
Staubli
Quickly create .NET applications that communicate with your StAubli industrial robot.
Staubli Communication Library
Implements Ethernet protocols natively available on Staubli robots
100% managed assembly
Fast integration with CS8 and CS9 controllers
Modern, well-documented library
No physical USB key license required
Features at a glance
Moving the robot
Powering remotely and sending of joint movement commands or Cartesian coordinates.
// Power on the controllerPowerReturnCode powerOnStatus = controller.Soap.SetPower(power: true);// Move linear to cartesian positionIMoveResult moveLResult = controller.Soap.MoveL(robot: 0,position,motionDesc);// Move joints to cartesian positionIMoveResult moveJCResult = controller.Soap.MoveJC(robot: 0,position,motionDesc);// Move joints to joint positionIMoveResult moveJResult = controller.Soap.MoveJJ(robot: 0,joints,motionDesc);// Move CircularIMoveResult moveCResult = controller.Soap.MoveC(robot: 0,position,position2,motionDesc);// Stop motionMotionReturnCode stopStatus = controller.Soap.StopMotion();// Reset motionMotionReturnCode resetStatus = controller.Soap.ResetMotion();// Restart motionMotionReturnCode restartStatus = controller.Soap.RestartMotion();
Handling applications
Load, start, stop, pause and supervise the execution of tasks.
// Load project from diskcontroller.Soap.LoadProject("Disk://myProject/myProject.pjx");ValApplication[] applications = controller.Soap.GetValApplications();foreach (var application in applications)Console.WriteLine($"Application: {application.Name}, Running: {application.IsRunning}");// Unload all applicationscontroller.Soap.StopAndUnloadAll();// Stop running applicationcontroller.Soap.StopApplication();// Get tasksControllerTask[] tasks = controller.Soap.GetTasks(); // Get all tasksforeach (var task in tasks){Console.WriteLine($"Task: {task.Name}");Console.WriteLine($"reated by: {task.CreatedBy}"); // i.e. Disk://myProject/myProject.pjxConsole.WriteLine($"Line: {task.ProgramLine}");Console.WriteLine($"State: {task.State}");}// Kill taskcontroller.Soap.TaskKill(tasks[0].Name, tasks[0].CreatedBy);// Suspend taskcontroller.Soap.TaskSuspend(tasks[0].Name, tasks[0].CreatedBy);// Resume taskcontroller.Soap.TaskResume(tasks[0].Name, tasks[0].CreatedBy);
Current position
Obtain the robot's current position, including Cartesian coordinates and joint angles.
// Get the current flange position of the first robot in world coordinatesCartesianJointPosition position = controller.Soap.GetCurrentCartesianJointPosition(robot: 0, tool: null, frame: null);double[] jointPosition1 = position.JointsPosition; // Joint position in radiansCartesianPosition cartesianPosition = position.CartesianPosition;Console.WriteLine($"X: {cartesianPosition.X}, Y: {cartesianPosition.Y}, Z: {cartesianPosition.Z}");Console.WriteLine($"Rx: {cartesianPosition.Rx}, Ry: {cartesianPosition.Ry}, Rz: {cartesianPosition.Rz}");// ---------------// Get only the current joint position of the first robotdouble[] jointPosition2 = controller.Soap.GetCurrentJointPosition(robot: 0);// ---------------// Get the joint ranges (min/max angle of each joint)controller.Soap.GetJointRange(robot: 0);
Calculate the Cartesian position from the angles of the joints and vice versa.
Calculate the Cartesian position from the angles of the joints and vice versa.
// Get forward kinematicsIForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, // Index of the robot (0 for the first robot)joints // double[] of joint positions in radians);// Position matrixFrame position = fk.Position;// Position configurationConfig config = fk.Config; // i.e. Righty/Lefty, Elbow Positive/Negtive, ...// -----------------// Get inverse kinematicsIReverseKinematics ik = controller.Soap.ReverseKinematics(robot: 0, // Index of the robot (0 for the first robot)joints,position,config,range);if (ik.Result == ReversingResult.Success)foreach (double joint in ik.Joint) Console.WriteLine(joint);
Information
Get controller and controlled robot characteristics, including model, software version, power status and more.
Robot[] robots = controller.Soap.GetRobots(); // Get all robots driven by the controllerforeach (var robot in robots){Console.WriteLine($"Arm: {robot.Arm}"); // i.e. TX2-140Console.WriteLine($"Mount type: {robot.MountType}"); // i.e. Floor, Ceiling, WallConsole.WriteLine($"Kinematic: {robot.Kinematic}"); // i.e. ANTHROPOMORPH6, SCARA, ...// see Robot class for more properties}// ---------------Parameter[] controllerParams = controller.Soap.GetControllerParameters(); // Get controller parametersforeach (var param in controllerParams)Console.WriteLine($"{param.Name} = {param.Value}"); // i.e. CycleTime = 0.004s// ---------------DhParameters[] dhParameters = controller.Soap.GetDhParameters(robot: 0); // Get DH parameters of the first robotforeach (var dh in dhParameters)Console.WriteLine($"{dh.Alpha} - {dh.Beta} - {dh.Theta} - {dh.A} - {dh.D}");
Inputs / Outputs
List, read and write entries and outputs of the controller
// Get all physical I/O ports of the controllerPhysicalIo[] ios = controller.Soap.GetAllPhysicalIos();foreach (var io in ios){Console.WriteLine($"Name: {io.Name}");Console.WriteLine($"Type: {io.Description}");Console.WriteLine($"Lockable: {io.Lockable}"); // i.e. true, falseConsole.WriteLine($"Description: {io.TypeStr}"); // i.e. din, dout, ain, serial}// -----------------// Read I/Os valuePhysicalIoState[] 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 valuePhysicalIoWriteResponse[] 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}");
Browse the documentation
Download and test

Windows application example
Allows you to test all the features of the SDK with a simple interface. The example is compiled in "self contained" and "single file" with .NET 8. The application is portable without installation.
By downloading, you accept the general conditions of use:
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Most popular
Site license
990 € (EUR) • $1090 (USD)
$
1090
lifetime$
654
for universities (40% discount)Complete and permanent SDK: no recurring subscription is required, the license is yours forever and works in all programming languages for a robot brand.
Can be used only by the organization holding the license, at the postal address indicated.
All team developers will share the same license, regardless of the number of development machine.
Any application developed using the SDK can be delivered to an unlimited number of your customers at no additional cost, regardless of the number of robots to connect.
The license is a kind of password to call in the code that unlocks the features.
No additional software to install.
No USB key.
1 year maintenance included (access to updates)
Contact us for a payment by bank transfer. Once the license of this SDK is purchased, you will receive your license number and your invoice by email.
Source license
9900 € (EUR) • $11 900 (USD)
$
11 900
lifetime$
7140
for universities (40% discount)Complete internal code of the library in C#
Visual Studio solution that includes 110,000 lines of code developed over several years
You can modify this source code and use it in your application, within the limits defined in the general terms of use