Get started with .NET

This page shows how to add the Staubli SDK to a C#, VB.NET or F# project and write a first program for a Staubli CS8 or CS9 controller. The SDK is one fully managed DLL, UnderAutomation.Staubli.dll, with no dependency, that talks to the SOAP server of the controller.

Supported frameworks

The DLL is compiled in AnyCPU for these targets:

.NET and .NET Core run on Windows, Linux and macOS, on x64, x86, ARM and ARM64. For Mono or Universal Windows Platform (UWP), use .NET Standard 2.1. For the Unity engine, use a .NET Framework or a .NET Standard version.

The same API is available on every target.

Install from NuGet

NuGet picks the right DLL for your project and makes updates easy.

dotnet add package UnderAutomation.Staubli

With the Package Manager console of Visual Studio:

Install-Package UnderAutomation.Staubli

Or right click the Dependencies node of your project, select Manage NuGet Packages..., search for UnderAutomation.Staubli and install the latest version.

Package page: nuget.org/packages/UnderAutomation.Staubli

Or download the DLL

The latest release of the GitHub repository Staubli.NET contains:

• UnderAutomation.Staubli.zip: the DLL and its XML documentation, in one folder per target (net48, netstandard2.0, net8.0...). Reference the DLL of your target in your project.
• UnderAutomation.Staubli.Showcase.Forms.exe: the demo application for Windows. See Demo application.

On Windows, a downloaded file can be blocked. Before you extract the zip, right click it, open Properties, check Unblock and click OK. A blocked DLL can fail to load.

Use the SDK with an AI agent

An AI agent such as Claude Code, Codex, GitHub Copilot or Cursor can write your C# code with the SDK. Without help, it does not know which protocol to use, which controller option is needed, or the exact names of the API, so it can invent members that do not exist. The UnderAutomation skill gives it the documentation of this version of the SDK: protocols, controller settings, API in C#, errors and safety rules for robot motion.

With the skill installed, you can ask for example:

Install the skill in your project:

npx skills add underautomation/skills --skill underautomation-staubli-csharp

With Claude Code, you can also install it as a plugin:

claude plugin marketplace add underautomation/skills
claude plugin install staubli-csharp@underautomation

Or paste this prompt to your agent: "Install the UnderAutomation Staubli skill: follow https://underautomation.com/staubli/documentation/ai-skills.md". The other installation modes are in AI agent skills.

First program

Import the namespace UnderAutomation.Staubli, create a StaubliController, connect and read a value.

static void Main()
{
// Without a key, the SDK runs in its 30 day trial period.
// With a license, register it once, before the first connection.
StaubliController.RegisterLicense("YourCompanyName", "YOUR_LICENSE_KEY");

// The whole SDK is reachable from a single object
var controller = new StaubliController();
controller.Connect("192.168.0.254");

// Read the position of each joint of the first robot, in radians
double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
Console.WriteLine(string.Join(", ", joints));

controller.Disconnect();
}
}

The SDK runs for 30 days without a key. After that, RegisterLicense is needed: see Licensing.

Connect uses the default SOAP settings of the controller: port 851, user default, password default. To change them, see Connect to your robot.

Demo application

The demo application is a Windows program that calls every function of the SDK, without writing code. It is a single executable, with no installation. Its C# sources are in the folder UnderAutomation.Staubli.Showcase.Forms of Staubli.NET. See Demo application.

Shell sources

The folder UnderAutomation.Staubli.ObfuscatedSources of Staubli.NET contains every public type and member of the SDK, with its XML documentation. The bodies of the methods are replaced by "Source is hidden". Use it to:

• browse the API and its documentation on GitHub, without installing anything;
• jump to a definition from your code editor, with the same names and signatures as the DLL;
• see the structure of the code that the source license delivers.

Source license

The Standard and Pro licenses deliver the obfuscated DLL. The Source license delivers the full C# code of the library and its Visual Studio solution. You can change it and build it yourself, within the limits of the license agreement. See the licenses on the pricing page and Licensing.

What to read next

• Connect to your robot: connection parameters, errors, disconnection.
• Test with the Staubli Robotics Suite emulator: work without a real robot.
• SOAP overview: the functions of the SDK, one page per topic.
• API reference: the shell sources.
• AI agent skills: install the C# skill of the SDK in Claude Code, Codex, GitHub Copilot or Cursor.