C#

RoboDK API for C#

The RoboDK API for C# allows you to simulate and program robots from your C# code for robot automation project. The RoboDK API also allows you to automate tasks within RoboDK software and customize your manufacturing applications.

Learn more about the RoboDK API in the RoboDK documentation page.

Requirements

• Visual Studio (it works with the Visual Studio community version and .NET framework >= 2.0)
• RoboDK

How to install

The RoboDK API for C# can be installed and used in one of the following ways:

• Simply include RoboDK.cs file to your project from the Example folder
• Install the NuGet package from the API folder The NuGet package follows the C# naming conventions and interfaces (including its own documentation) whereas the single file RoboDK.cs API follows the Python API naming.

Documentation

Depending on what version of the API you use:

• Python-based naming in C# (single file RoboDK.cs API): https://robodk.com/doc/en/PythonAPI/robodk.html#robolink-py
• NuGet C# Package: https://robodk.com/doc/en/CsAPI/index.html

The single file RoboDK.cs API is available as a template on Visual Studio Marketplace

Video Overview

C# Example

// RDK holds the main object to interact with RoboDK.
// RoboDK starts when a RoboDK object is created.
RoboDK RDK = new RoboDK();

// Select the robot among all available robots (there is no popup if there is only 1 robot)
RoboDK.Item ROBOT = RDK.ItemUserPick("Select a robot", RoboDK.ITEM_TYPE_ROBOT);

// retrieve the reference frame and the tool frame (TCP) as poses
Mat frame = ROBOT.PoseFrame();
Mat tool = ROBOT.PoseTool();

/// Optional: set the run mode 
/// (define if you want to simulate, generate the program or run the program on the robot)
// RDK.setRunMode(RoboDK.RUNMODE_MAKE_ROBOTPROG)
// RDK.ProgramStart("MatlabTest");

// 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);