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Connect to the robot

Connect to a UR robot

After creating an instance UR of your cobot, you need to call the Connect method to initiate communication with the robot.

This method takes as parameter a ConnectParameters object which describes the functionalities to be activated and the parameters of each feature.

The Connect() method can throw a InvalidLicenseException if your trial period is over or if your license key is invalid.

Please refer to the specific page for each protocol to understand the parameters.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;
using UnderAutomation.UniversalRobots.SocketCommunication;

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

        // Create parameters and enable all services you need
        var parameters = new ConnectParameters("192.168.0.1");

        // Enable Primary Interface
        parameters.PrimaryInterface.Enable = true;

        // Select exchanged data
        parameters.Rtde.Enable = true;
        parameters.Rtde.Frequency = 500; // Hz
        parameters.Rtde.InputSetup.Add(RtdeInputData.InputDoubleRegisters, 42);
        parameters.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpSpeed);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpForce);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualCurrent);
        parameters.Rtde.OutputSetup.Add(RtdeOutputData.InputIntRegisters, 0);

        // Enable Dashboard commands
        parameters.Dashboard.Enable = true;

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

        // Socket server on port 50001
        parameters.SocketCommunication.Enable = true;
        parameters.SocketCommunication.Port = 50001;

        // Enable SSH commands and files
        parameters.Ssh.EnableSsh = true;
        parameters.Ssh.EnableSftp = true;
        parameters.Ssh.Username = "ur";
        parameters.Ssh.Password = "easybot";

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

        //...

        // Work with library

        //...

        robot.Disconnect();
    }
}

Members of ConnectParameters :

public class ConnectParameters {
     public ConnectParameters()
     public ConnectParameters(string ip)
     public DashboardConnectParameters Dashboard { get; set; }
     public InterpreterModeConnectParameters InterpreterMode { get; set; }
     public string IP { get; set; }
     public bool PingBeforeConnecting { get; set; }
     public PrimaryInterfaceConnectParameters PrimaryInterface { get; set; }
     public RtdeConnectParameters Rtde { get; set; }
     public SocketCommunicationConnectParameters SocketCommunication { get; set; }
     public SshConnectParameters Ssh { get; set; }
     public XmlRpcConnectParameters XmlRpc { get; set; }
}

Disconnect

The Disconnect() method stops all services.

Try it with the Windows example

Visit the Download page to get the latest desktop example.

Connect to the robot

Connect to a UR robot

Disconnect

Try it with the Windows example

Read more