RoboDkApi 4.2.3

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.

Requirements

• RoboDK Software: https://robodk.com/download
• RoboDK API for C# (GitHub): https://github.com/RoboDK/RoboDK-API/tree/master/C%23
• RoboDK API on GitHub (main page): https://github.com/RoboDK/RoboDK-API

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.RunInstruction("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:

• https://robodk.com/help#PostProcessor
• https://robodk.com/doc/en/Post-Processors.html
• https://robodk.com/doc/en/PythonAPI/postprocessor.html

For more Examples:

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

Video Overview

Other

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:

• RoboDK API for VB .Net: https://github.com/RoboDK/RoboDK-API/tree/master/Visual%20Basic

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