UnderAutomation.UniversalRobots 7.9.9

dotnet add package UnderAutomation.UniversalRobots --version 7.9.9                
NuGet\Install-Package UnderAutomation.UniversalRobots -Version 7.9.9                
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="UnderAutomation.UniversalRobots" Version="7.9.9" />                
For projects that support PackageReference, copy this XML node into the project file to reference the package.
paket add UnderAutomation.UniversalRobots --version 7.9.9                
#r "nuget: UnderAutomation.UniversalRobots, 7.9.9"                
#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 UnderAutomation.UniversalRobots as a Cake Addin
#addin nuget:?package=UnderAutomation.UniversalRobots&version=7.9.9

// Install UnderAutomation.UniversalRobots as a Cake Tool
#tool nuget:?package=UnderAutomation.UniversalRobots&version=7.9.9                

Universal Robots Communication SDK

UnderAutomation Universal Robots communication SDK

NuGet .NET Framework .NET Standard .NET Core .NET Versions

🤖 Effortlessly Communicate with Universal Robots

The Universal Robots SDK enables seamless integration with Universal Robots for automation, data exchange, and remote control. Ideal for industrial automation, research, and advanced robotics applications.

🔗 More Information: https://underautomation.com/universal-robots
🔗 Also available for 🟨 LabVIEW & 🐍 Python


<p align="center"> <a href="https://github.com/underautomation/UniversalRobots.NET/stargazers"><b>⭐ Star if you like it !</b></a> </p> <p align="center"> <a href="https://github.com/underautomation/UniversalRobots.NET/watchers"><b>👁️ Watch to be notified of latest updates !</b></a> </p>


🚀 TL;DR (Too Long; Didn’t Read)

✔️ Full RTDE Support – Read & write at up to 500Hz
✔️ Send URScript Commands – Control robots in real-time
✔️ Dashboard Server – Manage power, programs, and states
✔️ Secure Connections – SSH & SFTP support
✔️ Multi-Platform – Works on Windows, Linux, and macOS
✔️ Commercial License – Deploy with no royalties

📹 **Watch Introduction Video 😗*

https://user-images.githubusercontent.com/47540360/143318635-6d6aaaf4-5642-457a-8ff1-4322f2defe82.mp4


📥 Download Example Applications

Explore the Universal Robots SDK with fully functional example applications and precompiled binaries for various platforms. See Github releases

🔹 Windows Forms Application (Full Feature Showcase)

A Windows Forms application demonstrating all the features of the library.

📌 Download: 📥 UnderAutomation.UniversalRobots.Showcase.Forms.exe

<p align="center"> <img src="https://raw.githubusercontent.com/underautomation/UniversalRobots.NET/refs/heads/main/.github/assets/desktop.jpg" alt="UnderAutomation.UniversalRobots.Showcase.Console"/> </p>


🔹 Console Applications (Multi-Platform)

Precompiled console applications showcasing compilation for multiple operating systems.

📌 Downloads:

<img src="https://raw.githubusercontent.com/underautomation/UniversalRobots.NET/refs/heads/main/.github/assets/console.png" alt="UnderAutomation.UniversalRobots.Showcase.Console" align="right"/>

OS Architecture Download
🐧 Linux ARM 📥 Download
🐧 Linux x64 📥 Download
🍏 macOS ARM64 📥 Download
🍏 macOS x64 📥 Download
🖥 Windows x64 📥 Download
🖥 Windows x86 📥 Download

📌 Features

🔹 Real-Time Data Exchange (RTDE)

Communicate with your robot at 500Hz, read live data, and control its behavior.

var robot = new UR();

var param = new ConnectParameters("192.168.0.1");

// Enable RTDE
param.Rtde.Enable = true;

// Exchange data at 500Hz
param.Rtde.Frequency = 500;

// Select data you want to write in robot controller
param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
param.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters, 0);

// Select data you want the robot to send
param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

// Connect to robot
robot.Connect(param);

// Be notified at 500Hz when data is received
robot.Rtde.OutputDataReceived += Rtde_OutputDataReceived;

// Write input values in robot
var inputValues = new RtdeInputValues();
inputValues.StandardAnalogOutput0 = 0.2;
inputValues.InputIntRegisters.X0 = 12;
robot.Rtde.WriteInputs(inputValues);

🔹 Primary Interface

Send URScript commands and monitor robot state at 10Hz.

// Send script
robot.PrimaryInterface.Script.Send("movej([-1.5,-1.5,-2,-0.5,1.8,0], a=1.4, v=1.05)");

// Get data
double x = robot.PrimaryInterface.CartesianInfo.TCPOffsetX;
double shoulderSpeed = robot.PrimaryInterface.JointData.Shoulder.ActualSpeed;

// Read program variables
GlobalVariable myVar = robot.PrimaryInterface.GlobalVariables.GetByName("myVar");
GlobalVariable[] variables =  robot.PrimaryInterface.GlobalVariables.GetAll();

🔹 Dashboard Server – Remote Robot Control

Manage power, brakes, program execution, and more.

robot.Dashboard.PowerOn();
robot.Dashboard.ReleaseBrake();
robot.Dashboard.LoadProgram("prg1.urp");
robot.Dashboard.Play();

🔹 XML-RPC – Call .NET Functions from URScript

Enable remote function calls from your robot program.

rpc := rpc_factory("xmlrpc", "http://192.168.0.10:50000")
answer := rpc.GetPose(100)
// Answer sent to the robot
robot.XmlRpc.XmlRpcServerRequest += (o, request) =>
  {
    if(request.MethodName == "GetPose") request.Answer = new Pose(request.Arguments[0], 200, 100, 0, 0, 0);
  };

🔹 Socket Communication

Allow robots to send and receive custom data via sockets.

robot.SocketCommunication.SocketWrite("Hello, Robot!");
robot.SocketCommunication.SocketRequest += (sender, e) => Console.WriteLine(e.Message);

🔹 Secure File Transfer (SFTP)

Upload, download, and manage files securely on your robot.

robot.Sftp.UploadFile(content, "/home/ur/ursim/programs/my-program.urp");
robot.Sftp.Delete("/home/ur/ursim/programs/old-program.urp");

🔹 SSH – Run Terminal Commands

Execute shell commands remotely.

robot.Ssh.RunCommand("echo 'Hello' > /home/ur/Desktop/NewFile.txt");

🛠 Installation

1️⃣ Get the SDK

Choose the installation method that works best for you:

Method NuGet (Recommended) Direct Download
How to Install Install via NuGet. See on Nuget Download and reference the DLL manually
dotnet add package UnderAutomation.UniversalRobots 📥 Download ZIP

2️⃣ Reference the SDK in Your Code

using UnderAutomation.UniversalRobots;

3️⃣ Connect to Your Robot

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1"));

🔍 Compatibility

Supported Robots: UR3, UR5, UR10, UR16, UR20, UR30, CB-Series, e-Series, Polyscope, Polyscope X
Operating Systems: Windows, Linux, macOS
.NET Versions: .NET Framework (≥3.5), .NET Standard, .NET Core, .NET 5/6/8/9


📢 Contributing

We welcome contributions! Feel free to:

  • Report issues via GitHub Issues
  • Submit pull requests with improvements
  • Share feedback & feature requests

📜 License

⚠️ This SDK requires a commercial license.
🔗 Learn more: UnderAutomation Licensing


📬 Need Help?

If you have any questions or need support:

Product Compatible and additional computed target framework versions.
.NET net5.0 is compatible.  net5.0-windows was computed.  net6.0 is compatible.  net6.0-android was computed.  net6.0-ios was computed.  net6.0-maccatalyst was computed.  net6.0-macos was computed.  net6.0-tvos was computed.  net6.0-windows was computed.  net7.0 was computed.  net7.0-android was computed.  net7.0-ios was computed.  net7.0-maccatalyst was computed.  net7.0-macos was computed.  net7.0-tvos was computed.  net7.0-windows was computed.  net8.0 is compatible.  net8.0-android was computed.  net8.0-browser was computed.  net8.0-ios was computed.  net8.0-maccatalyst was computed.  net8.0-macos was computed.  net8.0-tvos was computed.  net8.0-windows was computed.  net9.0 is compatible.  net9.0-android was computed.  net9.0-browser was computed.  net9.0-ios was computed.  net9.0-maccatalyst was computed.  net9.0-macos was computed.  net9.0-tvos was computed.  net9.0-windows was computed. 
.NET Core netcoreapp2.0 was computed.  netcoreapp2.1 was computed.  netcoreapp2.2 was computed.  netcoreapp3.0 is compatible.  netcoreapp3.1 was computed. 
.NET Standard netstandard2.0 is compatible.  netstandard2.1 is compatible. 
.NET Framework net35 is compatible.  net40 is compatible.  net403 was computed.  net45 is compatible.  net451 is compatible.  net452 is compatible.  net46 is compatible.  net461 is compatible.  net462 is compatible.  net463 was computed.  net47 is compatible.  net471 is compatible.  net472 is compatible.  net48 is compatible.  net481 was computed. 
MonoAndroid monoandroid was computed. 
MonoMac monomac was computed. 
MonoTouch monotouch was computed. 
Tizen tizen40 was computed.  tizen60 was computed. 
Xamarin.iOS xamarinios was computed. 
Xamarin.Mac xamarinmac was computed. 
Xamarin.TVOS xamarintvos was computed. 
Xamarin.WatchOS xamarinwatchos was computed. 
Compatible target framework(s)
Included target framework(s) (in package)
Learn more about Target Frameworks and .NET Standard.
  • .NETCoreApp 3.0

    • No dependencies.
  • .NETFramework 3.5

    • No dependencies.
  • .NETFramework 4.0

    • No dependencies.
  • .NETFramework 4.5

    • No dependencies.
  • .NETFramework 4.5.1

    • No dependencies.
  • .NETFramework 4.5.2

    • No dependencies.
  • .NETFramework 4.6

    • No dependencies.
  • .NETFramework 4.6.1

    • No dependencies.
  • .NETFramework 4.6.2

    • No dependencies.
  • .NETFramework 4.7

    • No dependencies.
  • .NETFramework 4.7.1

    • No dependencies.
  • .NETFramework 4.7.2

    • No dependencies.
  • .NETFramework 4.8

    • No dependencies.
  • .NETStandard 2.0

  • .NETStandard 2.1

    • No dependencies.
  • net5.0

    • No dependencies.
  • net6.0

    • No dependencies.
  • net8.0

    • No dependencies.
  • net9.0

    • No dependencies.

NuGet packages

This package is not used by any NuGet packages.

GitHub repositories

This package is not used by any popular GitHub repositories.

Version Downloads Last updated
7.9.9 113 2/4/2025
7.9.8 85 2/4/2025
7.9.1 339 11/13/2024
7.8.22 358 9/4/2024
7.8.0 199 8/1/2024
7.7.3 176 7/22/2024
7.6.3 170 7/3/2024
7.5.2 208 6/10/2024
7.4.7 151 5/29/2024
7.4.1 211 4/28/2024
7.3.2 157 4/27/2024
7.3.1 584 4/5/2024
7.3.0 141 4/5/2024
7.2.5 147 3/27/2024
7.2.4 180 3/8/2024
7.2.3 165 2/2/2024
7.2.2 139 1/22/2024
7.2.1 194 12/21/2023
7.2.0 380 8/30/2023
7.1.0 252 8/10/2023
7.0.0 328 7/16/2023
6.7.2 568 2/14/2023
6.7.1 453 1/5/2023
6.7.0 439 11/21/2022
6.6.2 490 10/21/2022
6.6.1 522 9/20/2022
6.6.0 489 9/20/2022
6.5.5 493 8/29/2022
6.5.4 571 7/28/2022
6.5.3 563 6/21/2022
6.5.1 513 6/9/2022
6.5.0 608 5/3/2022
6.4.0 562 3/22/2022
6.3.1 1,090 2/27/2022
6.2.0 524 2/27/2022
6.1.0 518 2/26/2022
6.0.6 536 2/26/2022
6.0.2 518 2/26/2022
5.0.0 397 12/24/2021
4.7.0 549 12/11/2021
4.6.1 384 12/2/2021
4.6.0 341 12/2/2021
4.5.1 419 11/2/2021
4.4.0 456 10/25/2021
4.3.0 365 10/21/2021
4.2.1 371 10/12/2021
4.1.8 442 10/6/2021
4.1.6 429 10/6/2021