Connect to your robot

static void Main()
{
var controller = new StaubliController();

// Default parameters: SOAP port 851, user "default", password "default"
controller.Connect("192.168.0.254");

bool connected = controller.Enabled;
controller.Disconnect();
}

static void Main()
{
var parameters = new ConnectionParameters("192.168.0.254");

// Ping the controller first, so an unreachable controller fails in 100 ms
parameters.PingBeforeConnect = true;

parameters.Soap.Enable = true;
// 0 (default): automatic, 851 on a real controller (SoapConnectParameters.DEFAULT_PORT)
parameters.Soap.Port = 0;
parameters.Soap.User = "default";
parameters.Soap.Password = "default";

var controller = new StaubliController();
controller.Connect(parameters);
controller.Disconnect();
}

static void Main()
{
// A SOAP client without StaubliController
var soap = new SoapClient();
soap.Connect("192.168.0.254", "default", "default", SoapConnectParameters.DEFAULT_PORT);

// The services are directly on the client
double[] joints = soap.GetCurrentJointPosition(robot: 0);

soap.Disconnect();
}
}

{
var controller = new StaubliController();
try
{
    controller.Connect("192.168.0.254");
    controller.Soap.TaskKill("myTask", "Disk://myProject/myProject.pjx");
}
catch (InvalidLicenseException ex)
{
    // No valid license: the trial is over, or the key is wrong
    Console.WriteLine(ex.LicenseInfo);
}
catch (CustomSoapException ex) when (ex.ErrorCode == SoapErrorCode.InvalidCredentials)
{
    Console.WriteLine("Wrong user or password");
}
catch (CustomSoapException ex)
{
    // The controller refused the request
    Console.WriteLine($"{ex.ErrorCode} : {ex.Description}");
}
catch (WebException ex)
{
    // No answer on the SOAP port
    Console.WriteLine(ex.Message);
}
catch (Exception ex)
{
    // For example, no answer to the ping
    Console.WriteLine(ex.Message);
}
}
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
try
{
    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
}
finally
{
    // Close the session on the controller
    controller.Disconnect();
}
}
}