4.1 Basic Operations of the Robot

Overview

The Arm class encapsulates most high-frequency interfaces for Agilebot robots, including connection management, state query, and control command dispatch. Typical workflow:

Instantiate Arm(controllerIP, teachPanelIP, localProxy) .
Call ConnectSync() to establish communication with the controller/teach pendant.
Call motion, status, I/O, and other interfaces based on your scenario.
Call DisconnectSync() to release resources.

After instantiation, the class handles internal setup automatically:

SDK version check
Controller type identification
Automatic proxy service selection
Communication path logging in the log

Notes

When robot software version is below 7.7.0, keep localProxy=true and ensure local communication capability on the PC.
For industrial robots in PC mode, ensure teach pendant control permission is obtained after connection and released after operations.

Class Constructor

Method Name	Arm( string `controllerIP` , string `teachPanelIP` = null, bool `localProxy` = true )
Description	Agilebot robot class constructor, which includes all available robot control interfaces. The robot must be initialized and connected before other functions can be used.
Request Parameters	`controllerIP` : string Robot controller IP address `teachPanelIP` : string Optional teach pendant IP; falls back to `controllerIP` when omitted `localProxy` : bool Whether to use local controller proxy service, default is true. When true, launches controller proxy service locally; when false, requires proxy service to be already installed in robot controller (requires robot software version 7.7 or later).
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.1 Connecting to the Robot

Method Name	ConnectSync()
Description	Establishes network connection with the Agilebot robot. The Arm constructor must be called first to initialize the robot instance. This method will start the corresponding proxy service based on the proxy mode specified in the constructor.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.2 Checking the Connection with the Robot Arm

Method Name	IsConnected()
Description	Checks whether the network connection with the robot is valid. Returns `true` if the connection is valid and communication is possible; returns `false` if the connection is disconnected or not established.
Request Parameters	None
Return Value	bool: Connection status, true indicates connection is valid, false indicates connection is invalid or not connected
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.3 Disconnecting from the Robot

Method Name	DisconnectSync()
Description	Disconnects from the Agilebot robot and releases related resources. After disconnection, `ConnectSync()` must be called again to communicate.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/Connect.cs

using Agilebot.IR;

public class Connect
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 检查连接状态
            // [EN] Check the connection status
            var state = controller.IsConnected();
            Console.WriteLine("Connected: " + state);
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.4 Getting the Current Robot Model

Method Name	GetArmModelInfo()
Description	Gets the model information of the currently connected Agilebot robot. Returns the robot model string (e.g., "GBT-C5A") and the operation execution status.
Request Parameters	None
Return Value	string: Robot model string, e.g., "GBT-C5A" StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/GetArmModelInfo.cs

using Agilebot.IR;

public class GetArmModelInfo
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人型号信息
            // [EN] Get the robot model information
            (string info, code) = controller.GetArmModelInfo();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get Robot Model Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Model: " + info);
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.5 Getting the Robot's Operating State

Method Name	GetRobotState()
Description	Gets the current operating state of the Agilebot robot. Returns the robot operating state enum value and the operation execution status.
Request Parameters	None
Return Value	RobotState: Robot operating state enum value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/GetRobotState.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class GetRobotState
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人运行状态
            // [EN] Get the robot running state
            (RobotState state, code) = controller.GetRobotState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get RobotState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("RobotState: " + state);
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.6 Getting the Current Controller Operating State

Method Name	GetCtrlState()
Description	Gets the current operating state of the Agilebot robot controller. Returns the controller operating state enum value and the operation execution status.
Request Parameters	None
Return Value	CtrlState: Controller operating state enum value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/GetCtrlState.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class GetCtrlState
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取控制器运行状态
            // [EN] Get the controller running state
            (CtrlState state, code) = controller.GetCtrlState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get CtrlState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("CtrlState: " + state);
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.7 Getting the Current Servo State

Method Name	GetServoState()
Description	Gets the current state of the Agilebot robot servo system. Returns the servo system state enum value and the operation execution status.
Request Parameters	None
Return Value	ServoState: Servo system state enum value StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/GetServoState.cs

using Agilebot.IR;
using Agilebot.IR.Types;

public class GetServoState
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取伺服运行状态
            // [EN] Get the servo operating state
            (ServoState state, code) = controller.GetServoState();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get ServoState Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("ServoState: " + state);
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.8 Getting the Robot Controller Version

Method Name	GetVersion()
Description	Gets the software version information of the Agilebot robot controller. Returns the controller software version string and the operation execution status.
Request Parameters	None
Return Value	string: Controller software version string StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/GetVersion.cs

using Agilebot.IR;

public class GetVersion
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 获取机器人控制器版本
            // [EN] Get the robot controller version
            string version;
            (version, code) = controller.GetVersion();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Get version Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Version: " + version);
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.9 Setting the Robot's LED Indicator Light

Method Name	SwitchLedLight( bool `mode` )
Description	Controls the on/off state of the Agilebot robot LED indicator light. `true` turns on the indicator light, `false` turns it off.
Request Parameters	`mode` : bool LED indicator light control mode, true indicates turn on, false indicates turn off
Return Value	StatusCode: Operation execution result
Compatibility	Only supports collaborative robots, requires controller version 1.3.6 and above, industrial robots not supported
Compatible robot software version	Collaborative (Copper): v7.5.1.3+ Industrial (Bronze): Not supported

Example Code

Arm/SwitchLedLight.cs

using Agilebot.IR;

public class SwitchLedLight
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 关闭灯光
            // [EN] Turn off the LED light
            code = controller.SwitchLedLight(false);
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Switch Led Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Switch Led Light Off.");
            }

            Thread.Sleep(2000);

            // [ZH] 打开灯光
            // [EN] Turn on the LED light
            code = controller.SwitchLedLight(true);
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Switch Led Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Switch Led Light On.");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Disconnect from the robot
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.10 Robot Servo On

Method Name	ServoOn()
Description	Starts the servo system of the Agilebot robot, making the robot enter a controllable state. After servo startup, the robot can accept motion commands.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.11 Robot Servo Off

Method Name	ServoOff()
Description	Turns off the servo system of the Agilebot robot, making the robot enter a safe stop state. After servo shutdown, the robot will not be able to move.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.1.12 Resetting the Robot Servo

Method Name	ServoReset()
Description	Resets the servo system of the Agilebot robot, clearing error states and preparing for restart. This method is typically called after a servo failure to restore the system.
Request Parameters	None
Return Value	StatusCode: Result of function execution
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/ServoOperation.cs

using Agilebot.IR;

public class ServoOperation
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 机械臂伺服重置
            // [EN] Reset the robot arm servo
            code = controller.ServoReset();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo Reset Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo Reset Success.");
            }

            Thread.Sleep(3000);

            // [ZH] 机械臂伺服关闭
            // [EN] Turn off the robot arm servo
            code = controller.ServoOff();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo Off Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo Off Success.");
            }

            Thread.Sleep(3000);

            // [ZH] 机械臂伺服打开
            // [EN] Turn on the robot arm servo
            code = controller.ServoOn();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Servo On Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Servo On Success.");
            }

            Thread.Sleep(3000);
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1.13 Emergency Stop

Method Name	Estop()
Description	Executes emergency stop of the Agilebot robot, immediately stopping all motion and entering a safe state. After emergency stop, the servo system must be restarted to resume motion.
Request Parameters	None
Return Value	StatusCode: Emergency stop operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Arm/Estop.cs

using Agilebot.IR;

public class Estop
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接到捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        if (code != StatusCode.OK)
        {
            Console.WriteLine("Connect Robot Failed: " + code.GetDescription());
            return code;
        }

        try
        {
            // [ZH] 触发机器人急停
            // [EN] Trigger the robot emergency stop
            code = controller.Estop();
            if (code != StatusCode.OK)
            {
                Console.WriteLine("Emergency Stop Failed: " + code.GetDescription());
            }
            else
            {
                Console.WriteLine("Emergency Stop Success");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"执行过程中发生异常/Exception occurred during execution: {ex.Message}");
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }
}

4.1 Basic Operations of the Robot ​

Overview ​

Notes ​

Class Constructor ​

4.1.1 Connecting to the Robot ​

4.1.2 Checking the Connection with the Robot Arm ​

4.1.3 Disconnecting from the Robot ​

4.1.4 Getting the Current Robot Model ​

4.1.5 Getting the Robot's Operating State ​

4.1.6 Getting the Current Controller Operating State ​

4.1.7 Getting the Current Servo State ​

4.1.8 Getting the Robot Controller Version ​

4.1.9 Setting the Robot's LED Indicator Light ​

4.1.10 Robot Servo On ​

4.1.11 Robot Servo Off ​

4.1.12 Resetting the Robot Servo ​

4.1.13 Emergency Stop ​

4.1 Basic Operations of the Robot

Overview

Notes

Class Constructor

4.1.1 Connecting to the Robot

4.1.2 Checking the Connection with the Robot Arm

4.1.3 Disconnecting from the Robot

4.1.4 Getting the Current Robot Model

4.1.5 Getting the Robot's Operating State

4.1.6 Getting the Current Controller Operating State

4.1.7 Getting the Current Servo State

4.1.8 Getting the Robot Controller Version

4.1.9 Setting the Robot's LED Indicator Light

4.1.10 Robot Servo On

4.1.11 Robot Servo Off

4.1.12 Resetting the Robot Servo

4.1.13 Emergency Stop