UnderAutomation.Staubli 0.1.1

Staubli Communication SDK

🤖 Effortlessly Communicate with Staubli Robots

The Staubli Communication SDK provides high-level access to industrial Staubli robots via the native SOAP protocol. Designed for automation engineers, researchers, and integrators, this SDK supports full motion control, I/O access, system monitoring, and application management.

🔗 More Information: Documentation
🔗 Available also for 🟨 LabVIEW & 🐍 Python

🚀 TL;DR

✅ Seamlessly connect to Staubli controllers using native SOAP.
✅ Control movements, read/write I/Os, monitor status, and manage applications.
✅ No additional licenses or Staubli software needed.

Highlights:

• ⚡ Real-time SOAP communication
• 🛠️ Works with .NET Framework, Core, Standard
• 🔁 Full motion lifecycle & kinematics
• 📡 Access to physical & logical I/Os
• 📦 Project & task management (VAL 3)

📥 Download Example Applications

Explore precompiled examples from the GitHub Releases

✅ Windows Forms Showcase

🔹 Download: 📥 UnderAutomation.Staubli.Showcase.Forms.exe

✨ Features

🔌 Connection

var controller = new StaubliController();
var parameters = new ConnectionParameters("192.168.0.1");

parameters.Soap.Enable = true;
parameters.Soap.User = "default";
parameters.Soap.Password = "default";

controller.Connect(parameters);

🔍 System Information

• Get robots connected (GetRobots())
• Get controller parameters (GetControllerParameters())
• Retrieve DH parameters (GetDhParameters())

Robot[] robots = controller.Soap.GetRobots();
Parameter[] controllerParams = controller.Soap.GetControllerParameters();
DhParameters[] dh = controller.Soap.GetDhParameters(robot: 0);

📍 Position & Joints

• GetCurrentJointPosition()
• GetCurrentCartesianJointPosition()

CartesianJointPosition pos = controller.Soap.GetCurrentCartesianJointPosition(robot: 0);
double[] joints = pos.JointsPosition;

🧠 Kinematics

• Forward Kinematics: ForwardKinematics()
• Inverse Kinematics: ReverseKinematics()

IForwardKinematics fk = controller.Soap.ForwardKinematics(0, joints);
IReverseKinematics ik = controller.Soap.ReverseKinematics(0, joints, fk.Position, fk.Config, range);

⚙️ Motion Control

• Power: SetPower(true/false)
• Motion types: MoveL, MoveJC, MoveJJ, MoveC
• Motion lifecycle: StopMotion, ResetMotion, RestartMotion

controller.Soap.SetPower(true);
controller.Soap.MoveL(0, targetFrame, motionDesc);

📡 I/O Management

• List physical I/Os: GetAllPhysicalIos()
• Read: ReadIos(...)
• Write: WriteIos(...)

PhysicalIo[] ios = controller.Soap.GetAllPhysicalIos();
PhysicalIoWriteResponse[] res = controller.Soap.WriteIos(new[] { "out1" }, new[] { 1.0 });

📦 Application Management

• Load project: LoadProject("Disk://myProject.pjx")
• List applications: GetValApplications()
• Stop/unload apps: StopApplication(), StopAndUnloadAll()

controller.Soap.LoadProject("Disk://project.pjx");
ValApplication[] apps = controller.Soap.GetValApplications();
controller.Soap.StopAndUnloadAll();

🔁 Task Lifecycle

• List tasks: GetTasks()
• Control: TaskKill, TaskSuspend, TaskResume

ControllerTask[] tasks = controller.Soap.GetTasks();
controller.Soap.TaskKill(tasks[0].Name, tasks[0].CreatedBy);

✅ Compatibility

• Controllers: CS8, CS9
• OS: Windows, Linux, macOS
• .NET Versions: Framework 3.5+, .NET Core 2.0+, .NET 5/6/8/9

📜 License

⚠️ Commercial license required 🔗 View EULA

🤝 Contributing

You're welcome to:

• Submit issues & PRs
• Share feature suggestions
• Help improve documentation

👉 Contribute on GitHub

📬 Need Help?

• 📚 Documentation
• 📩 Contact Support

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