RoboDkApi 3.8.4

There is a newer version of this package available.
See the version list below for details.
dotnet add package RoboDkApi --version 3.8.4                
NuGet\Install-Package RoboDkApi -Version 3.8.4                
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package.
<PackageReference Include="RoboDkApi" Version="3.8.4" />                
For projects that support PackageReference, copy this XML node into the project file to reference the package.
paket add RoboDkApi --version 3.8.4                
#r "nuget: RoboDkApi, 3.8.4"                
#r directive can be used in F# Interactive and Polyglot Notebooks. Copy this into the interactive tool or source code of the script to reference the package.
// Install RoboDkApi as a Cake Addin
#addin nuget:?package=RoboDkApi&version=3.8.4

// Install RoboDkApi as a Cake Tool
#tool nuget:?package=RoboDkApi&version=3.8.4                

RoboDK API for .NET

With the RoboDK API for .NET you can simulate and program any industrial robot using C# or Visual Basic. The RoboDK API allows you to program industrial robots without learning vendor-specific programming languages.



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.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 / ...)
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.RunInstruction("Moving to point " + i.ToString(), RoboDK.INSTRUCTION_COMMENT);
    double[] xyzwpr = pose_i.ToXYZRPW();

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:

Video Overview

Introduction to the RoboDK API for C#


A partial implementation of the RoboDK API for Visual Basic is also available, however, it is recommended to use the Nuget package in Visual Basic:

The RoboDK API is also available in Python, C++ (based on Qt libraries) and Matlab

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 programming)
  • 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
Product Compatible and additional computed target framework versions.
.NET Framework net45 is compatible.  net451 was computed.  net452 was computed.  net46 was computed.  net461 was computed.  net462 was computed.  net463 was computed.  net47 was computed.  net471 was computed.  net472 was computed.  net48 was computed.  net481 was computed. 
Compatible target framework(s)
Included target framework(s) (in package)
Learn more about Target Frameworks and .NET Standard.

This package has no dependencies.

NuGet packages

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Version Downloads Last updated
5.6.8 10,759 1/15/2024
5.6.2 811 7/20/2023
5.4.3 2,157 8/3/2022
4.2.3 1,069 4/24/2020
3.8.4 856 6/7/2019
3.8.3 659 6/5/2019
3.8.0 753 5/6/2019
3.4.7 962 7/27/2018