Primary Interface : Data streaming

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  RobotModeDataPackageEventArgs _value = ur.PrimaryInterface.RobotModeData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.RobotModeDataReceived += Ur_RobotModeDataReceived;
}

private void Ur_RobotModeDataReceived(object sender, RobotModeDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  JointDataPackageEventArgs _value = ur.PrimaryInterface.JointData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.JointDataReceived += Ur_JointDataReceived;
}

private void Ur_JointDataReceived(object sender, JointDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  ToolDataPackageEventArgs _value = ur.PrimaryInterface.ToolData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.ToolDataReceived += Ur_ToolDataReceived;
}

private void Ur_ToolDataReceived(object sender, ToolDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  MasterboardDataPackageEventArgs _value = ur.PrimaryInterface.MasterboardData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.MasterboardDataReceived += Ur_MasterboardDataReceived;
}

private void Ur_MasterboardDataReceived(object sender, MasterboardDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  CartesianInfoPackageEventArgs _value = ur.PrimaryInterface.CartesianInfo;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.CartesianInfoReceived += Ur_CartesianInfoReceived;
}

private void Ur_CartesianInfoReceived(object sender, CartesianInfoPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  KinematicsInfoPackageEventArgs _value = ur.PrimaryInterface.KinematicsInfo;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.KinematicsInfoReceived += Ur_KinematicsInfoReceived;
}

private void Ur_KinematicsInfoReceived(object sender, KinematicsInfoPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  ConfigurationDataPackageEventArgs _value = ur.PrimaryInterface.ConfigurationData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.ConfigurationDataReceived += Ur_ConfigurationDataReceived;
}

private void Ur_ConfigurationDataReceived(object sender, ConfigurationDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  ForceModeDataPackageEventArgs _value = ur.PrimaryInterface.ForceModeData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.ForceModeDataReceived += Ur_ForceModeDataReceived;
}

private void Ur_ForceModeDataReceived(object sender, ForceModeDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  AdditionalInfoPackageEventArgs _value = ur.PrimaryInterface.AdditionalInfo;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.AdditionalInfoReceived += Ur_AdditionalInfoReceived;
}

private void Ur_AdditionalInfoReceived(object sender, AdditionalInfoPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  CalibrationDataPackageEventArgs _value = ur.PrimaryInterface.CalibrationData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.CalibrationDataReceived += Ur_CalibrationDataReceived;
}

private void Ur_CalibrationDataReceived(object sender, CalibrationDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  SafetyDataPackageEventArgs _value = ur.PrimaryInterface.SafetyData;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.SafetyDataReceived += Ur_SafetyDataReceived;
}

private void Ur_SafetyDataReceived(object sender, SafetyDataPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  ToolCommunicationInfoPackageEventArgs _value = ur.PrimaryInterface.ToolCommunicationInfo;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.ToolCommunicationInfoReceived += Ur_ToolCommunicationInfoReceived;
}

private void Ur_ToolCommunicationInfoReceived(object sender, ToolCommunicationInfoPackageEventArgs e) {
  // e contains the incoming package
}

private UR ur;

private void Start() {
  ur = new UR(); // Create a new UR instance
  ur.Connect("192.168.0.1"); // Connect to the robot
  // ...

  // Direct access to last received package
  ToolModeInfoPackageEventArgs _value = ur.PrimaryInterface.ToolModeInfo;

  // Attach a delegate to the event triggered when new package comes 
  ur.PrimaryInterface.ToolModeInfoReceived += Ur_ToolModeInfoReceived;
}

private void Ur_ToolModeInfoReceived(object sender, ToolModeInfoPackageEventArgs e) {
  // e contains the incoming package
}