RoboDK API for C# - Main Page

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

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

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

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:

For more Examples:

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

Table of Contents

RoboDK API for C# - Main Page

Requirements

How to install

Documentation

Example