Staubli SDK documentation

SOAP Overview

This documentation describes the usage of the Staubli native SOAP protocol to interact with industrial robot controllers programmatically.

Overview

Staubli industrial robot controllers expose a SOAP-based interface to interact with third applications, like SRS (Staubli Robotics Suite) or this library.

This includes retrieving status information, controlling movement, accessing I/Os, handling applications, and managing tasks.

To use this API, you must connect to a controller over its network address and authenticate using SOAP credentials.

This SDK is compatible with CS8 and CS9 controllers, providing a unified interface for both.

Connecting to the Controller

Initialization

To begin any SOAP interaction, create a StaubliController and configure ConnectionParameters:

IP Address: The robot controller's network address.
SOAP Enable: Enables the SOAP layer.
Port: Usually 851.
Authentication: Username and password, typically "default".

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Common;
using UnderAutomation.Staubli.Soap.Data;


public class Connect
{
  static void Main()
  {
    /**/
    StaubliController controller = new StaubliController();

    var parameters = new ConnectionParameters();
    parameters.PingBeforeConnect = true; // Send a ping request before connecting (Optional, default is true)
    parameters.Address = "192.168.0.1";
    parameters.Soap.Enable = true; // Enable SOAP communication (default is true)
    parameters.Soap.Port = SoapConnectParameters.DEFAULT_PORT; // default is 851
    parameters.Soap.User = "default"; // default is "default"
    parameters.Soap.Password = "default"; // default is "default"

    // Connect to the Staubli controller
    controller.Connect(parameters);

    bool isConnected = controller.Soap.Enabled; // Check if the SOAP connection is enabled

    PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos(); // Example of using SOAP to get all physical I/Os
    /**/
  }
}

Retrieving System Information

Robots

Use GetRobots() to retrieve connected robot arms:

Arm: Model name (e.g. TX2-140).
MountType: Physical installation (Floor, Ceiling, Wall).
Kinematic: Configuration (Anthropomorphic, SCARA, etc.).

Members of Soap.Data.Robot :

public class Robot {
     public Robot()
     public string Arm { get; set; }
     public DiameterAxis3 DiameterAxis3 { get; set; }
     public Kinematic Kinematic { get; set; }
     public LengthAxis3 LengthAxis3 { get; set; }
     public MountType MountType { get; set; }
     public string Tuning { get; set; }
}

Controller Parameters

Call GetControllerParameters() to read system-level configuration:

Returns an array of name/value pairs (e.g., CycleTime = 0.004s).

Members of Soap.Data.Parameter :

public class Parameter {
     public Parameter()
     public string Key { get; set; }
     public string Name { get; set; }
     public string Value { get; set; }
}

DH Parameters

Denavit-Hartenberg parameters are retrieved via GetDhParameters():

Describes the robot's mechanical structure.
Parameters include Alpha, Beta, Theta, A, D.

Members of Soap.Data.DhParameters :

public class DhParameters {
     public DhParameters()
     public double A { get; set; }
     public double Alpha { get; set; }
     public double Beta { get; set; }
     public double D { get; set; }
     public double Theta { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class GetInfos
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    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}");
    /**/
  }
}

Position and Joints

GetCurrentJointPosition(): Returns only joint angles.
GetCurrentCartesianJointPosition(): Returns tool position in space (XYZ + rotation) and joint angles.

Members of Soap.Data.CartesianJointPosition :

public class CartesianJointPosition {
     public CartesianJointPosition()
 
    // The Cartesian position of the robot end effector.
    public CartesianPosition CartesianPosition { get; set; }
 
    // The joint positions in radians.
    public double[] JointsPosition { get; set; }
}

Members of Soap.Data.CartesianPosition :

public class CartesianPosition {
     public CartesianPosition()
     public double Rx { get; set; }
     public double Ry { get; set; }
     public double Rz { get; set; }
     public double X { get; set; }
     public double Y { get; set; }
     public double Z { get; set; }
}

Returned types include:

CartesianPosition: X, Y, Z, Rx, Ry, Rz.
JointsPosition: Array of joint values in radians.

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class CurrentPosition
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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);
    /**/
  }
}

Kinematics

Forward Kinematics

Use ForwardKinematics() to compute end-effector position from joint angles:

Returns a Frame (position/orientation matrix).
Includes Config, which defines the robot’s pose solution.

Members of Soap.Data.IForwardKinematics :

public interface IForwardKinematics {
     Config Config { get; }
     Frame Position { get; }
}

Inverse Kinematics

Use ReverseKinematics() to compute joint angles from a desired Frame:

Inputs: Desired pose, current joint state, configuration, and joint limits.
Returns IReverseKinematics, including solution result and joint values.

Members of Soap.Data.IReverseKinematics :

public interface IReverseKinematics {
     double[] Joint { get; }
     ReversingResult Result { get; }
}

Members of Soap.Data.Frame :

public class Frame {
 
    // Default constructor.
    public Frame()
 
    // X component of the local Z-axis vector (Approach X).
    public double Ax { get; set; }
 
    // Y component of the local Z-axis vector (Approach Y).
    public double Ay { get; set; }
 
    // Z component of the local Z-axis vector (Approach Z).
    public double Az { get; set; }
 
    // X component of the local X-axis vector (Normal X).
    public double Nx { get; set; }
 
    // Y component of the local X-axis vector (Normal Y).
    public double Ny { get; set; }
 
    // Z component of the local X-axis vector (Normal Z).
    public double Nz { get; set; }
 
    // X component of the local Y-axis vector (Orientation X).
    public double Ox { get; set; }
 
    // Y component of the local Y-axis vector (Orientation Y).
    public double Oy { get; set; }
 
    // Z component of the local Y-axis vector (Orientation Z).
    public double Oz { get; set; }
 
    // X coordinate of the frame's origin in global space (Pose X).
    public double Px { get; set; }
 
    // Y coordinate of the frame's origin in global space (Pose Y).
    public double Py { get; set; }
 
    // Z coordinate of the frame's origin in global space (Pose Z).
    public double Pz { get; set; }
}

Members of Soap.Data.Config :

public class Config {
     public Config()
     public AnthroConfig AnthroConfig { get; set; }
     public ScaraConfig ScaraConfig { get; set; }
     public VrbxConfig VrbxConfig { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = 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);
    /**/
  }
}

Motion and Movement

Power Control

SetPower(true/false): Powers the robot on or off.

Members of Soap.Data.PowerReturnCode :

public enum PowerReturnCode {
     DisableTimeout = 3
     EnableTimeout = 2
     OnlyInRemoteMode = 4
     RobotNotStopped = 1
     Success = 0
}

Motion Types

Each motion function returns an IMoveResult, indicating success or failure.

MoveL(): Linear Cartesian movement.
MoveJC(): Joint move to a Cartesian frame.
MoveJJ(): Move to specified joint angles.
MoveC(): Circular Cartesian movement using two frames.

Members of Soap.Data.MotionReturnCode :

public enum MotionReturnCode {
     MisuseError = 3
     NotReady = 1
     ParameterError = 2
 
    // Success, no error occurred.
    Success = 0
     UnexpectedError = 4
}

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = 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);
    /**/
  }
}

Motion Lifecycle

StopMotion(): Stops current motion immediately.
ResetMotion(): Resets any motion errors.
RestartMotion(): Resumes motion from a paused state.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Motion
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);

    IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, joints);

    Frame position = fk.Position;
    var config = fk.Config;

    MotionDesc motionDesc = new MotionDesc
    {
      Config = config,
      Acceleration = 0.5,
      Deceleration = 0.5,
      Frequency = 100,
      Velocity = 0.5,
      TranslationVelocity = 0.1,
      RotationVelocity = 0.1,
    };

    position.Px += 0.1; // Move 10 cm in X direction
    Frame position2 = new Frame(); // fake position for circular move example

    /**/
    // 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();
    /**/
  }
}

Input/Output Management

Physical I/Os

Use GetAllPhysicalIos() to list all hardware I/Os:

Each PhysicalIo includes name, type (digital, analog, serial), lockable status, and description.

Members of Soap.Data.PhysicalIo :

public class PhysicalIo {
     public PhysicalIo()
 
    // Description of the physical I/O.
    public string Description { get; set; }
 
    // Indicates whether the physical I/O is lockable.
    public bool Lockable { get; set; }
 
    // Name of the physical I/O.
    public string Name { get; set; }
 
    // Type of the physical I/O (e.g., din, dout, ain, serial, ...).
    public string TypeStr { get; set; }
}

Read I/O State

Use ReadIos() to retrieve current values:

Includes value, lock status, and simulation status.

Members of Soap.Data.PhysicalIoState :

public class PhysicalIoState {
     public PhysicalIoState()
     public PhysicalIoAttribute Attribute { get; set; }
     public bool Locked { get; set; }
     public bool Simulated { get; set; }
     public PhysicalIoEnumState State { get; set; }
     public double Value { get; set; }
}

Members of Soap.Data.PhysicalIoAttribute :

public class PhysicalIoAttribute {
     public PhysicalIoAttribute()
     public PhysicalAioAttribute AioAttribute { get; set; }
     public PhysicalDioAttribute DioAttribute { get; set; }
}

Members of Soap.Data.PhysicalAioAttribute :

public class PhysicalAioAttribute {
     public PhysicalAioAttribute()
     public double CoefficientA { get; set; }
     public double CoefficientB { get; set; }
}

Members of Soap.Data.PhysicalDioAttribute :

public class PhysicalDioAttribute {
     public PhysicalDioAttribute()
     public bool Inverted { get; set; }
}

Write I/O State

Use WriteIos() to set values:

Inputs: I/O names and corresponding values (typically 0 or 1 for digital).

Members of Soap.Data.PhysicalIoWriteResponse :

public class PhysicalIoWriteResponse {
     public PhysicalIoWriteResponse()
     public bool Found { get; set; }
     public bool Success { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Ios
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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}");
    /**/
  }
}

Application Management

Loading Projects

LoadProject("Disk://myProject/myProject.pjx"): Loads a project from disk.

Application Control

GetValApplications(): Lists running and loaded VAL 3 applications.
StopApplication(): Stops the current application.
StopAndUnloadAll(): Stops and unloads all VAL 3 applications.

Members of Soap.Data.ValApplication :

public class ValApplication {
     public ValApplication()
     public bool IsCrypted { get; set; }
     public bool IsRunning { get; set; }
     public bool Loaded { get; set; }
     public string Name { get; set; }
}

Task Inspection

Use GetTasks() to get all active tasks:

Includes task name, creator (project path), current line number, and execution state.

Task Lifecycle

TaskKill(): Forcefully stops a task.
TaskSuspend(): Pauses a running task.
TaskResume(): Resumes a suspended task.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Application
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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);
    /**/
  }
}

Notes on Usage

The robot index (robot: 0) usually refers to the first robot connected.
Joint angles are in radians.
Cartesian positions are in meters and radians (Rx, Ry, Rz).

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Staubli SDK documentation

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SOAP Overview

This documentation describes the usage of the Staubli native SOAP protocol to interact with industrial robot controllers programmatically.

Overview

Staubli industrial robot controllers expose a SOAP-based interface to interact with third applications, like SRS (Staubli Robotics Suite) or this library.

This includes retrieving status information, controlling movement, accessing I/Os, handling applications, and managing tasks.

To use this API, you must connect to a controller over its network address and authenticate using SOAP credentials.

This SDK is compatible with CS8 and CS9 controllers, providing a unified interface for both.

Connecting to the Controller

Initialization

To begin any SOAP interaction, create a StaubliController and configure ConnectionParameters:

IP Address: The robot controller's network address.
SOAP Enable: Enables the SOAP layer.
Port: Usually 851.
Authentication: Username and password, typically "default".

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Common;
using UnderAutomation.Staubli.Soap.Data;


public class Connect
{
  static void Main()
  {
    /**/
    StaubliController controller = new StaubliController();

    var parameters = new ConnectionParameters();
    parameters.PingBeforeConnect = true; // Send a ping request before connecting (Optional, default is true)
    parameters.Address = "192.168.0.1";
    parameters.Soap.Enable = true; // Enable SOAP communication (default is true)
    parameters.Soap.Port = SoapConnectParameters.DEFAULT_PORT; // default is 851
    parameters.Soap.User = "default"; // default is "default"
    parameters.Soap.Password = "default"; // default is "default"

    // Connect to the Staubli controller
    controller.Connect(parameters);

    bool isConnected = controller.Soap.Enabled; // Check if the SOAP connection is enabled

    PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos(); // Example of using SOAP to get all physical I/Os
    /**/
  }
}

Retrieving System Information

Robots

Use GetRobots() to retrieve connected robot arms:

Arm: Model name (e.g. TX2-140).
MountType: Physical installation (Floor, Ceiling, Wall).
Kinematic: Configuration (Anthropomorphic, SCARA, etc.).

Members of Soap.Data.Robot :

public class Robot {
     public Robot()
     public string Arm { get; set; }
     public DiameterAxis3 DiameterAxis3 { get; set; }
     public Kinematic Kinematic { get; set; }
     public LengthAxis3 LengthAxis3 { get; set; }
     public MountType MountType { get; set; }
     public string Tuning { get; set; }
}

Controller Parameters

Call GetControllerParameters() to read system-level configuration:

Returns an array of name/value pairs (e.g., CycleTime = 0.004s).

Members of Soap.Data.Parameter :

public class Parameter {
     public Parameter()
     public string Key { get; set; }
     public string Name { get; set; }
     public string Value { get; set; }
}

DH Parameters

Denavit-Hartenberg parameters are retrieved via GetDhParameters():

Describes the robot's mechanical structure.
Parameters include Alpha, Beta, Theta, A, D.

Members of Soap.Data.DhParameters :

public class DhParameters {
     public DhParameters()
     public double A { get; set; }
     public double Alpha { get; set; }
     public double Beta { get; set; }
     public double D { get; set; }
     public double Theta { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class GetInfos
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    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}");
    /**/
  }
}

Position and Joints

GetCurrentJointPosition(): Returns only joint angles.
GetCurrentCartesianJointPosition(): Returns tool position in space (XYZ + rotation) and joint angles.

Members of Soap.Data.CartesianJointPosition :

public class CartesianJointPosition {
     public CartesianJointPosition()
 
    // The Cartesian position of the robot end effector.
    public CartesianPosition CartesianPosition { get; set; }
 
    // The joint positions in radians.
    public double[] JointsPosition { get; set; }
}

Members of Soap.Data.CartesianPosition :

public class CartesianPosition {
     public CartesianPosition()
     public double Rx { get; set; }
     public double Ry { get; set; }
     public double Rz { get; set; }
     public double X { get; set; }
     public double Y { get; set; }
     public double Z { get; set; }
}

Returned types include:

CartesianPosition: X, Y, Z, Rx, Ry, Rz.
JointsPosition: Array of joint values in radians.

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class CurrentPosition
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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);
    /**/
  }
}

Kinematics

Forward Kinematics

Use ForwardKinematics() to compute end-effector position from joint angles:

Returns a Frame (position/orientation matrix).
Includes Config, which defines the robot’s pose solution.

Members of Soap.Data.IForwardKinematics :

public interface IForwardKinematics {
     Config Config { get; }
     Frame Position { get; }
}

Inverse Kinematics

Use ReverseKinematics() to compute joint angles from a desired Frame:

Inputs: Desired pose, current joint state, configuration, and joint limits.
Returns IReverseKinematics, including solution result and joint values.

Members of Soap.Data.IReverseKinematics :

public interface IReverseKinematics {
     double[] Joint { get; }
     ReversingResult Result { get; }
}

Members of Soap.Data.Frame :

public class Frame {
 
    // Default constructor.
    public Frame()
 
    // X component of the local Z-axis vector (Approach X).
    public double Ax { get; set; }
 
    // Y component of the local Z-axis vector (Approach Y).
    public double Ay { get; set; }
 
    // Z component of the local Z-axis vector (Approach Z).
    public double Az { get; set; }
 
    // X component of the local X-axis vector (Normal X).
    public double Nx { get; set; }
 
    // Y component of the local X-axis vector (Normal Y).
    public double Ny { get; set; }
 
    // Z component of the local X-axis vector (Normal Z).
    public double Nz { get; set; }
 
    // X component of the local Y-axis vector (Orientation X).
    public double Ox { get; set; }
 
    // Y component of the local Y-axis vector (Orientation Y).
    public double Oy { get; set; }
 
    // Z component of the local Y-axis vector (Orientation Z).
    public double Oz { get; set; }
 
    // X coordinate of the frame's origin in global space (Pose X).
    public double Px { get; set; }
 
    // Y coordinate of the frame's origin in global space (Pose Y).
    public double Py { get; set; }
 
    // Z coordinate of the frame's origin in global space (Pose Z).
    public double Pz { get; set; }
}

Members of Soap.Data.Config :

public class Config {
     public Config()
     public AnthroConfig AnthroConfig { get; set; }
     public ScaraConfig ScaraConfig { get; set; }
     public VrbxConfig VrbxConfig { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = 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);
    /**/
  }
}

Motion and Movement

Power Control

SetPower(true/false): Powers the robot on or off.

Members of Soap.Data.PowerReturnCode :

public enum PowerReturnCode {
     DisableTimeout = 3
     EnableTimeout = 2
     OnlyInRemoteMode = 4
     RobotNotStopped = 1
     Success = 0
}

Motion Types

Each motion function returns an IMoveResult, indicating success or failure.

MoveL(): Linear Cartesian movement.
MoveJC(): Joint move to a Cartesian frame.
MoveJJ(): Move to specified joint angles.
MoveC(): Circular Cartesian movement using two frames.

Members of Soap.Data.MotionReturnCode :

public enum MotionReturnCode {
     MisuseError = 3
     NotReady = 1
     ParameterError = 2
 
    // Success, no error occurred.
    Success = 0
     UnexpectedError = 4
}

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Kinematics
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);
    JointRange range = 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);
    /**/
  }
}

Motion Lifecycle

StopMotion(): Stops current motion immediately.
ResetMotion(): Resets any motion errors.
RestartMotion(): Resumes motion from a paused state.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Motion
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    double[] joints = controller.Soap.GetCurrentJointPosition(robot: 0);

    IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, joints);

    Frame position = fk.Position;
    var config = fk.Config;

    MotionDesc motionDesc = new MotionDesc
    {
      Config = config,
      Acceleration = 0.5,
      Deceleration = 0.5,
      Frequency = 100,
      Velocity = 0.5,
      TranslationVelocity = 0.1,
      RotationVelocity = 0.1,
    };

    position.Px += 0.1; // Move 10 cm in X direction
    Frame position2 = new Frame(); // fake position for circular move example

    /**/
    // 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();
    /**/
  }
}

Input/Output Management

Physical I/Os

Use GetAllPhysicalIos() to list all hardware I/Os:

Each PhysicalIo includes name, type (digital, analog, serial), lockable status, and description.

Members of Soap.Data.PhysicalIo :

public class PhysicalIo {
     public PhysicalIo()
 
    // Description of the physical I/O.
    public string Description { get; set; }
 
    // Indicates whether the physical I/O is lockable.
    public bool Lockable { get; set; }
 
    // Name of the physical I/O.
    public string Name { get; set; }
 
    // Type of the physical I/O (e.g., din, dout, ain, serial, ...).
    public string TypeStr { get; set; }
}

Read I/O State

Use ReadIos() to retrieve current values:

Includes value, lock status, and simulation status.

Members of Soap.Data.PhysicalIoState :

public class PhysicalIoState {
     public PhysicalIoState()
     public PhysicalIoAttribute Attribute { get; set; }
     public bool Locked { get; set; }
     public bool Simulated { get; set; }
     public PhysicalIoEnumState State { get; set; }
     public double Value { get; set; }
}

Members of Soap.Data.PhysicalIoAttribute :

public class PhysicalIoAttribute {
     public PhysicalIoAttribute()
     public PhysicalAioAttribute AioAttribute { get; set; }
     public PhysicalDioAttribute DioAttribute { get; set; }
}

Members of Soap.Data.PhysicalAioAttribute :

public class PhysicalAioAttribute {
     public PhysicalAioAttribute()
     public double CoefficientA { get; set; }
     public double CoefficientB { get; set; }
}

Members of Soap.Data.PhysicalDioAttribute :

public class PhysicalDioAttribute {
     public PhysicalDioAttribute()
     public bool Inverted { get; set; }
}

Write I/O State

Use WriteIos() to set values:

Inputs: I/O names and corresponding values (typically 0 or 1 for digital).

Members of Soap.Data.PhysicalIoWriteResponse :

public class PhysicalIoWriteResponse {
     public PhysicalIoWriteResponse()
     public bool Found { get; set; }
     public bool Success { get; set; }
}

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Ios
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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}");
    /**/
  }
}

Application Management

Loading Projects

LoadProject("Disk://myProject/myProject.pjx"): Loads a project from disk.

Application Control

GetValApplications(): Lists running and loaded VAL 3 applications.
StopApplication(): Stops the current application.
StopAndUnloadAll(): Stops and unloads all VAL 3 applications.

Members of Soap.Data.ValApplication :

public class ValApplication {
     public ValApplication()
     public bool IsCrypted { get; set; }
     public bool IsRunning { get; set; }
     public bool Loaded { get; set; }
     public string Name { get; set; }
}

Task Inspection

Use GetTasks() to get all active tasks:

Includes task name, creator (project path), current line number, and execution state.

Task Lifecycle

TaskKill(): Forcefully stops a task.
TaskSuspend(): Pauses a running task.
TaskResume(): Resumes a suspended task.

Example Usage

using UnderAutomation.Staubli;
using UnderAutomation.Staubli.Soap.Data;

class Application
{
  static void Main()
  {
    StaubliController controller = new StaubliController();
    var parameters = new ConnectionParameters("192.168.0.1");

    /**/
    // 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);
    /**/
  }
}

Notes on Usage

The robot index (robot: 0) usually refers to the first robot connected.
Joint angles are in radians.
Cartesian positions are in meters and radians (Rx, Ry, Rz).

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Documentation home

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Any question?

SOAP Overview

Overview

Connecting to the Controller

Initialization

Example Usage

Retrieving System Information

Robots

Controller Parameters

DH Parameters

Example Usage

Position and Joints

Kinematics

Forward Kinematics

Inverse Kinematics

Example Usage

Motion and Movement

Power Control

Motion Types

Motion Lifecycle

Example Usage

Input/Output Management

Physical I/Os

Read I/O State

Write I/O State

Example Usage

Application Management

Loading Projects

Application Control

Task Inspection

Task Lifecycle

Example Usage

Notes on Usage

Any question?

SOAP Overview

Overview

Connecting to the Controller

Initialization

Example Usage

Retrieving System Information

Robots

Controller Parameters

DH Parameters

Example Usage

Position and Joints

Kinematics

Forward Kinematics

Inverse Kinematics

Example Usage

Motion and Movement

Power Control

Motion Types

Motion Lifecycle

Example Usage

Input/Output Management

Physical I/Os

Read I/O State

Write I/O State

Example Usage

Application Management

Loading Projects

Application Control

Task Inspection

Task Lifecycle

Example Usage

Notes on Usage