Read variables

The SDK allows to read the installation variables and the program variables of the robot.

Get all variables

// Get all variables currently declared in the robot
GlobalVariable[] variables = _ur.GlobalVariables.GetAll();

Get one variable

// Get a variable by its name
GlobalVariable myVar = _ur.GlobalVariables.GetByName("myVar");
// Get its type and value
GlobalVariableTypes type = myVar.Type;
object value = myVar.Value;
// Convert it to pose
Pose poseValue = myVar.ToPose();

Try it with the Windows example

Classes

Members of GlobalVariable :
public class GlobalVariable : GlobalVariableValue {
// Variable name
public string Name { get; },
// Last time the variable was sampled
public TimeSpan Time { get; }
}
Members of GlobalVariableValue :
public class GlobalVariableValue {
// Returns variable value if type is Bool. Il type is Float or Int, it returns True if value is not 0. Else, it returns false
public bool ToBool(),
// Returns variable value if type is Float. Il type is int, it casts it to float. If Type is bool, it returns 1 or 0. Else it returns NaN
public float ToFloat(),
// Returns variable value if type is Int. Il type is Float, it tries to cast it to int. If Type is bool, it returns 1 or 0. Else it returns 0
public int ToInt(),
// Returns an array of GlobalVariableValue if Type is List. Else, null is returned
public GlobalVariableValue[] ToList(),
// Return variable value GlobalVariable[,] if variable is a matrix. First dimension is row index and second dimension is column index.
Use GetLength(0) to get row number and GetLength(1) to get column count
public Array ToMatrix(),
// Returns a Pose if Type is Pose. Else, null is returned
public Pose ToPose(),
// Returns a string that describes the variable, regardless of its type
public override string ToString(),
// Type of a variable
public GlobalVariableTypes Type { get; },
// Value of the variable
public object Value { get; }
}
Members of GlobalVariableTypes :
public enum GlobalVariableTypes {
// Variable value is bool
Bool = 4,
// Variable value is float
Float = 6,
// Variable value is int
Int = 5,
// Variable value is an array : GlobalVariableValue[]
List = 2,
// Variable value is a matrix
Matrix = 7,
// Variable value is null, the value has not been assigned yet
None = 0,
// Variable value is a UnderAutomation.UniversalRobots.Pose
Pose = 3,
// Variable value is a System.String
String = 1
}
Members of GlobalVariables :
public class GlobalVariables {
// Indicates which decoder is used used to read variables according to firmware version
public GlobalVariablesFirmwareVersion FirmwareVersion { get; },
// Returns a list of all variables declared in the robot
public GlobalVariable[] GetAll(),
// Get a variable by its name. Null is returned if the bariable doesn't exist
public GlobalVariable GetByName(string name),
// Event raised whan the variable list changed. For example, after a program starts
public event EventHandler<GlobalVariablesEventArgs> ListUpdated,
// Return a string where each line contains type, name and variable value
public override string ToString(),
// Event raised at 10Hz when variable values are updated
public event EventHandler<GlobalVariablesEventArgs> ValuesUpdated
}
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© 2021 UnderAutomation - UnderAutomation Universal Robots .NET Communication SDK (Software Development Kit) provides the ability to create customized .NET Core, .NET Framework and .NET Standard applications that can communicate with every UR robots. Ready to use examples for Windows, Mac OS and Linux, LabView, Node.js and Python are provided. It uses TCP/IP Dashboard Server and XML-RPC to remote control the robot and the Client Interface to receive and decode data stream.