RoboDK API for .Net

Simulate any application involving industrial robots with RoboDK. This example shows how to use the RoboDK API to integrate 3D simulations with any application. Simulation and offline programming can be accomplished directly from C# code. The RoboDK API allows creating simulations for industrial robots and generating vendor-specific programs. Whereas RoboDK's graphical user interface can be used to create programs, it is possible to extend the programming limitations of robot controllers by using a universal programming language such as C#.

With the RoboDK API for C# it is possible to simulate and program any industrial robot using C# programming language. This avoids using vendor-specific programming languages.

Note

This template is outdated. Use the NuGet package instead:

GitHub (most up to date): https://github.com/RoboDK/RoboDK-API/tree/master/C%23/API
NuGet Package: https://www.nuget.org/packages/RoboDkApi/

Documentation:

This template contains the RoboDK.cs file which is the implementation of the RoboDK API. This file defines the following classes:

The RoboDK class (https://robodk.com/doc/en/PythonAPI/robolink.html) is the link between RoboDK and Python. Any item from the RoboDK item tree can be retrieved.
The RoboDK.Item class (https://robodk.com/doc/en/PythonAPI/robolink.html#id1): RoboDK items are represented by the RoboDK.Item class. An item can be a robot, a reference frame, a tool, an object or a specific project.
The Mat class (https://robodk.com/doc/en/PythonAPI/robodk.html) is a Matrix class for pose manipulations.

The RoboDK API for C# is also available as a NuGet Package: https://robodk.com/doc/en/CsAPI/index.html

The following link provides an overview of the RoboDK API for Python: https://robodk.com/offline-programming

RoboDK can be used for a wide range of applications, such as 3D printing, robot machining, synchronizing multiple robots, pick and place...

Examples: https://robodk.com/examples
Blog: https://robodk.com/blog

Video Overview

The following video provides an overview of the RoboDK API for C# https://www.youtube.com/watch?v=3I6OK1Kd2Eo

Requirements

RoboDK must be installed:

RoboDK Software: https://robodk.com/

Install this template or download the sample project:

RoboDK API for C# example: https://robodk.com/doc/examples/RoboDK-Csharp-API-SampleProject.zip

The RoboDK API does not require any specific library dependencies. The API is implemented using internal Socket communication.

The RoboDK API can be used with a free RoboDK license.

Example

The following script shows an example that uses the RoboDK package for robot simulation and offline programming::

// retrieve the reference frame and the tool frame (TCP)
Mat frame = ROBOT.PoseFrame();
Mat tool = ROBOT.PoseTool();
int runmode = RDK.RunMode(); // retrieve the run mode 

// Program start
ROBOT.MoveJ(pose_ref);
ROBOT.setPoseFrame(frame);  // set the reference frame
ROBOT.setPoseTool(tool);    // set the tool frame: important for Online Programming
ROBOT.setSpeed(100);        // Set Speed to 100 mm/s
ROBOT.setZoneData(5);       // set the rounding instruction (C_DIS & APO_DIS / CNT / ZoneData / Blend Radius / ...)
ROBOT.RunInstruction("CallOnStart");
for (int i = 0; i <= n_sides; i++)
{
    double angle = ((double) i / n_sides) * 2.0 * Math.PI;
    Mat pose_i = pose_ref * Mat.rotz(angle) * Mat.transl(100, 0, 0) * Mat.rotz(-angle);
    ROBOT.RunCodeCustom("Moving to point " + i.ToString(), RoboDK.INSTRUCTION_COMMENT);
    double[] xyzwpr = pose_i.ToXYZRPW();
    ROBOT.MoveL(pose_i);
}
ROBOT.RunInstruction("CallOnFinish");
ROBOT.MoveL(pose_ref);

The same script used for simulation can be used for offline programming, which means that the appropriate program can be generated for the robot being used. RoboDK supports a large number of robot controllers and it is easy to include compatibility for new robot controllers using Post Processors.

For more information about robot post processors:

For more Examples:

https://robodk.com/doc/en/PythonAPI/examples.html

Other

A partial implementation of the RoboDK API for Visual Basic is also available:

RoboDK API for VB .Net: https://robodk.com/doc/examples/RoboDK-Visual-Basic-VB.Net-SampleProject.zip

Supported robots

The following list includes the robot controllers supported by RoboDK:

ABB RAPID IRC5: for ABB IRC5 robot controllers
ABB RAPID S4C: for ABB S4C robot controllers
Adept Vplus: for Adept V+ programming language
Allen Bradley Logix5000: for Allen Bradley Logix5000 PCL
Comau C5G: for Comau C5G robot controllers
CLOOS: for CLOOS robot controllers
Denso PAC: for Denso RC7 (and older) robot controllers (PAC programming language)
Denso RC8: for Denso RC8 (and newer) robot controllers (PacScript programming language)
Dobot: for educational Dobot robots
Fanuc R30iA: for Fanuc R30iA and R30iB robot controllers
Fanuc R30iA Arc: for Fanuc Arc welding
Fanuc RJ3: for Fanuc RJ3 robot controllers
G-Code BnR: for B&R robot controllers
GSK: for GSK robots
HIWIN HRSS: for HIWIN robots
KAIRO: for Keba Kairo robot controllers
KUKA IIWA: for KUKA IIWA sunrise programming in Java
KUKA KRC2: for KUKA KRC2 robot controllers
KUKA KRC2 CamRob: for KUKA CamRob milling option
KUKA KRC2 DAT: for KUKA KRC2 robot controllers including DAT data files
KUKA KRC4: for KUKA KRC4 robot controllers
KUKA KRC4 Config: for KUKA KRC4 robot controllers with configuration data in each line
KUKA KRC4 DAT: for KUKA KRC4 robot controllers including DAT data files
Kawasaki: for Kawasaki AS robot controllers
Mecademic: for Mecademic Meca500 robot
Mitsubishi: for Mitsubishi robot controllers
Motoman: for Yaskawa/Motoman robot controllers (JBI Inform programs)
Nachi AX FD: for Nachi AX and FD robot controllers
Daihen OTC: for Daihen OTC robot controllers
Precise: for Precise Scara robots
Siemens Sinumerik: for Siemens Sinumerik ROBX robot controller
Staubli VAL3: for Staubli VAL3 robot programs (CS8 controllers and later)
Staubli VAL3 InlineMove: to generate Staubli VAL3 programs with inline movement data
Staubli S6: for Staubli S6 robot controllers
Toshiba: for Toshiba robots
Universal Robots: for UR robots, generates linear movements as pose targets
Universal Robots RobotiQ: for UR robots including support for RobotiQ gripper
Universal Robots joints: for UR robots, generates linear movements as joint targets
Yamaha: for Yamaha robots

RoboDK API for Industrial Robots and Automation

RoboDK Inc.