static void Main(string[] args)
{
    // Create a new robot instance
    var robot = new UR();

    // Setup connection to the robot
    var param = new ConnectParameters();
    param.IP = "192.168.0.1";

    // Enable XML-RPC server on port 50000
    param.XmlRpc.Enable = true;
    param.XmlRpc.Port = 50000;

    // Connect to the robot
    robot.Connect(param);

    robot.XmlRpc.XmlRpcServerRequest += XmlRpc_XmlRpcServerRequest;

    //...
}


// Method called when the robot sends a request
// You shoud execute on your robot : rpc:=rpc_factory("xmlrpc","http://192.168.0.10:50000")
// Replace the IP address 192.168.0.10 with the IP of the machine running this .NET code
// If you don't know your IP, you can find it in your interface properties or in with this SDK in the property : ur.DataStreamingLocalEndPoint
private static void XmlRpc_XmlRpcServerRequest(object sender, XmlRpcEventArg request)
{
    Console.WriteLine("Robot IP : " + request.EndPoint.Address);
    // Prints :
    // Robot IP : 192.168.0.1
    // Set the returned answer according to the method and its arguments
    switch (request.MethodName)
    {
        case "get_answer":
            // Robot script : answer1:=rpc.get_answer("Hello", True, False, 12, 12.2, p[100,100,120,0.1,0,0], [12,1.2,123])
            // Reply : answer1:=TRUE    
            foreach (var argument in request.Arguments)
            {
                Console.WriteLine(argument.ToString()); // Prints argument value : "Hello", "true", "false", "12", ...
            }
            request.Answer = true;
            break;
        case "GetPose":
            // Robot script : answer2:=rpc.GetPose()
            // Reply : answer2:=p[100,200,100,0,0,0]                    
            request.Answer = new Pose(100, 200, 100, 0, 0, 0);
            break;
        case "HowAreYou":
            // Robot script : answer3:=rpc.HowAreYou("Alfred")
            // Reply : answer3:="Fine thx Alfred"                    
            request.Answer = "Fine thx " + request.Arguments[0];
            break;
        case "SumFirstArray":
            // Robot script : answer4:=rpc.SumFirstArray([1,3.5,-2])
            // Reply : answer4:=2.5                    
            double[] argument1 = request.Arguments[0];
            double sum1 = 0;
            for (int i = 0; i < argument1.Length; i++) sum1 += argument1[i];
            request.Answer = sum1;
            break;
        case "SumMyArguments":
            // Robot script : answer5:=rpc.SumMyArguments(1,3.5,-2)
            // Reply : answer5:=2.5                    
            double sum = 0;
            for (int i = 0; i < request.Arguments.Length; i++)
            {
                double argValue = request.Arguments[i];
                sum += argValue;
            }
            request.Answer = sum;
            break;
        default:
            // Do not reply and the answer variable is not assigned
            break;
    }
}

var server = new XmlRpcServer();

    server.Start(50000);

    server.XmlRpcServerRequest += Server_XmlRpcServerRequest;
    

private static void Server_XmlRpcServerRequest(object sender, XmlRpcEventArg request)
{
    string methodName = request.MethodName;
}