UnderAutomation.ABB is a fully managed SDK that talks to ABB industrial robot controllers over Robot Web Services (RWS). The same code runs on IRC5 (RobotWare 6) and on OmniCore (RobotWare 7). Nothing is installed on the controller. No RobotStudio, no PC SDK, no ABB runtime.
Use it to read and write RAPID variables, control I/O, read positions, jog the robot, manage programs, files and backups, and follow the state of the controller, from a normal Python application.
It works with real controllers and with the virtual controllers of RobotStudio.
🔗 More information: https://underautomation.com/abb
🔗 Also available in 🟦 .NET
⭐ Star this repo if it is useful to you 👁️ Watch it to follow new releases
- ✔️ No RobotStudio, no PC SDK - RWS is part of a standard controller system
- 🧾 RAPID variables and programs - read and write variables, persistents and constants, start and stop tasks, move the program pointer, load and save modules
- ⚡ Inputs / Outputs - list, read and write digital, analog and group signals, pulse, invert or simulate a signal, browse I/O devices and networks
- 📐 Position and kinematics - read the current
robtargetandjointtarget, convert between Cartesian pose and joint values, jog the robot - 🎛️ Controller and state - identity, options, operation mode, controller state, speed ratio, clock, language and network
- 💾 Backup and restore - create a full backup, check it, restore it
- 📂 File system - browse the controller file system, download and upload files, create, copy, rename and delete files and directories
- 📜 Event log - read the event log by domain, in the language you ask, and clear it
- 🔋 System and energy - system product list, options and energy counters
- 🔑 Mastership - request and release the edit and motion mastership
- 🔁 One API for both controller generations - IRC5 (RWS 1.0) and OmniCore (RWS 2.0), only one connection parameter changes
- Python 3.7 or higher
- An ABB robot controller, or a virtual controller in RobotStudio
We recommend a virtual environment to keep your project dependencies isolated.
# Create a project folder
mkdir my-abb-project
cd my-abb-project
# Create a virtual environment
python -m venv venv
# Activate it
# On Windows:
venv\Scripts\activate
# On macOS/Linux:
source venv/bin/activateYou should see (venv) in your terminal prompt.
The SDK is published on PyPI:
pip install UnderAutomation.ABBAll dependencies (including pythonnet) are installed automatically.
On Linux, also install the .NET runtime and set PYTHONNET_RUNTIME to coreclr:
sudo apt-get install -y dotnet-runtime-8.0
export PYTHONNET_RUNTIME=coreclrAlternative: install from source
git clone https://github.com/underautomation/ABB.py.git cd ABB.py pip install -e .
Create a Python file (for example main.py):
from underautomation.abb.abb_controller import AbbController
# The SDK runs in trial mode for 30 days. Register your key to remove the trial limit.
# If you get a license exception, ask a trial key at https://underautomation.com/license
# AbbController.register_license("Your Company", "your-license-key")
robot = AbbController()
# Connect (replace with your controller IP address)
robot.connect("192.168.125.1")
identity = robot.rws.controller.get_identity()
print(identity.name)
robot.disconnect()Run it:
python main.pyThe default is OmniCore (RWS 2.0). For an IRC5 controller, set the version to RwsVersion.Irc5_V1_0.
The rest of your code does not change.
from underautomation.abb.abb_controller import AbbController
from underautomation.abb.connection_parameters import ConnectionParameters
from underautomation.abb.rws.rws_version import RwsVersion
params = ConnectionParameters("192.168.125.1")
params.rws.username = "Default User"
params.rws.password = "robotics"
params.rws.use_https = True # OmniCore is reached over HTTPS
params.rws.version = RwsVersion.OmniCore_V2_0 # or RwsVersion.Irc5_V1_0 for IRC5
robot = AbbController()
robot.connect(params)Without the licensed controller class
RwsClientis a standalone RWS client you can use without theAbbControllerlicensing layer:from underautomation.abb.rws.rws_client import RwsClient from underautomation.abb.rws.rws_version import RwsVersion client = RwsClient() client.connect("192.168.125.1", useHttps=True, version=RwsVersion.OmniCore_V2_0) print(client.controller.get_identity().name)
The SDK works out of the box for 30 days (trial period), no registration needed.
After the trial, you can:
- Buy a license at underautomation.com/order
- Get a new trial period immediately by email at underautomation.com/license
To register a license in code:
from underautomation.abb.abb_controller import AbbController
license_info = AbbController.register_license("your-licensee", "your-license-key")
print(license_info)Everything is reached through robot.rws, grouped by service:
controller, io, rapid, motion_system, panel, system, file, elog, mastership.
from underautomation.abb.rws.data.mastership_domain import MastershipDomain
# Read a RAPID symbol, the value comes back the way RAPID writes it
reg1 = robot.rws.rapid.get_symbol_value("RAPID/T_ROB1/user/reg1")
print(reg1.value)
# Write a symbol (needs the edit mastership in automatic mode)
robot.rws.mastership.request(MastershipDomain.Edit)
robot.rws.rapid.set_symbol_value("RAPID/T_ROB1/user/reg1", "42")
robot.rws.mastership.release(MastershipDomain.Edit)
# Start and stop the program
robot.rws.rapid.start()
robot.rws.rapid.stop()
# Load a program, list tasks, follow the execution state
robot.rws.rapid.load_program("T_ROB1", "HOME:/myprogram.pgf")
tasks = robot.rws.rapid.get_tasks()
state = robot.rws.rapid.get_execution_state()# List every signal
signals = robot.rws.io.get_signals()
# Read one signal
di1 = robot.rws.io.get_signal("EtherNetIP", "d652", "DI_01")
print(di1.logical_value)
# Write, pulse or invert an output
robot.rws.io.set_signal_value("EtherNetIP", "d652", "DO_01", 1)
robot.rws.io.pulse_signal("EtherNetIP", "d652", "DO_01", 1, pulses=3)
robot.rws.io.invert_signal("EtherNetIP", "d652", "DO_01", 1)
# Simulate a signal so a value can be forced without hardware
robot.rws.io.set_signal_state("EtherNetIP", "d652", "DI_01", simulated=True)from underautomation.abb.common.robot_joints import RobotJoints
# Current Cartesian and joint position of a task
rob_target = robot.rws.rapid.get_rob_target("T_ROB1")
joint_target = robot.rws.rapid.get_joint_target("T_ROB1")
print(f"X={rob_target.x} Y={rob_target.y} Z={rob_target.z}")
print(f"J1={joint_target.robot_axes.axis1} J2={joint_target.robot_axes.axis2}")
# Jog the robot
robot.rws.motion_system.set_jogging_mechanical_unit("ROB_1")
robot.rws.motion_system.jog(RobotJoints(5, 0, 0, 0, 0, 0), 0)from datetime import datetime
identity = robot.rws.controller.get_identity()
info = robot.rws.controller.get_info()
mode = robot.rws.panel.get_operation_mode()
state = robot.rws.panel.get_controller_state()
speed_ratio = robot.rws.panel.get_speed_ratio()
robot.rws.panel.set_speed_ratio(50)
robot.rws.controller.set_clock(datetime.now())
has_option = robot.rws.controller.has_option("RobotWare-OS")robot.rws.controller.create_backup("HOME:/backups/2026-01-15")
check = robot.rws.controller.check_restore("HOME:/backups/2026-01-15")
if check.is_accepted:
robot.rws.controller.restore_backup("HOME:/backups/2026-01-15")listing = robot.rws.file.list_directory("HOME:/")
for d in listing.directories:
print(d.name)
for f in listing.files:
print(f"{f.name} ({f.size} bytes)")
robot.rws.file.upload_file_from_path("HOME:/myprogram.mod", r"C:\rapid\myprogram.mod")
robot.rws.file.get_file_to_destination("HOME:/myprogram.mod", r"C:\backup\myprogram.mod")
robot.rws.file.delete_file("HOME:/old.mod")messages = robot.rws.elog.get_messages(domain=0, language="en")
for m in messages:
print(f"{m.timestamp} {m.title}")
robot.rws.elog.clear_all_messages()from underautomation.abb.rws.data.mastership_domain import MastershipDomain
robot.rws.mastership.request(MastershipDomain.Motion)
# ... jog or move the robot ...
robot.rws.mastership.release(MastershipDomain.Motion)The repository ships a set of ready to run examples in the examples/ folder, one subfolder per RWS service.
| File | Role |
|---|---|
examples/launcher.py |
Interactive menu - browse and run any example from a single launcher |
examples/__init__.py |
Shared helpers - sets up the Python path, manages the connection settings and handles the license registration |
examples/robot_config.json |
Saved settings (git-ignored) - remembers the controller address, the credentials and the license key |
Run an example directly
The first time you run an example, it asks for the controller address, the RWS credentials and the protocol version. The answers are saved in
robot_config.json, so they are only typed once. Press Enter to accept the value between brackets.
python examples/system/system_info.pyOr browse the examples with the launcher
python examples/launcher.pyThe launcher discovers the examples on its own and runs the one you pick in the same process, so a breakpoint set in an example file is hit:
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║ Python SDK - Interactive Example Launcher ║
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║ SELECT A CATEGORY ║
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║ ║
║ 🤖 1. CONTROLLER (3 examples) ║
║ Controller - identity, clock, options, backups ║
║ ║
║ 📜 2. ELOG (1 example) ║
║ Event log - read and filter controller messages ║
║ ║
║ 📂 3. FILE (2 examples) ║
║ File system - browse, download and upload files ║
║ ║
║ ⚡ 4. IO (4 examples) ║
║ I/O system - networks, devices, read and write signals ║
║ ║
║ 🔑 5. LICENSE (1 example) ║
║ License management - activation & status ║
║ ║
║ 🔒 6. MASTERSHIP (1 example) ║
║ Mastership - request and release the write access ║
║ ║
║ 🦾 7. MOTION (3 examples) ║
║ Motion system - mechanical units, positions, kinematics ║
║ ║
║ 🚦 8. PANEL (2 examples) ║
║ Control panel - controller state, operation mode, speed ratio ║
║ ║
║ 🧾 9. RAPID (5 examples) ║
║ RAPID - tasks, modules, symbols, program execution ║
║ ║
║ 🧩 10. SYSTEM (1 example) ║
║ System - RobotWare version, options, products, energy ║
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║ 0. Exit ║
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Enter category number [0-10]:
| # | Example | Description |
|---|---|---|
| 1 | license_info.py | Show the license state and every license property, no connection needed |
| # | Example | Description |
|---|---|---|
| 2 | controller_identity.py | Name, serial id, type, MAC address, installed systems, options and network interfaces |
| 3 | controller_clock.py | Read the controller clock, its time zone and its time server, and set the clock |
| 4 | controller_backup.py | Read the backup state and the content of a backup, and create a new one under $temp |
| # | Example | Description |
|---|---|---|
| 5 | system_info.py | RobotWare version, options, robot types, installed products and energy counters |
| # | Example | Description |
|---|---|---|
| 6 | panel_state.py | Controller state, operation mode, mode selector lock and collision detection |
| 7 | panel_speed_ratio.py | Read and write the speed ratio, switch the motors on and off |
| # | Example | Description |
|---|---|---|
| 8 | io_list_signals.py | List every signal with its value and its state, and search signals by name |
| 9 | io_read_signal.py | Read one signal in detail: values, states, quality, timestamps, configuration |
| 10 | io_write_signal.py | Write, invert, pulse and simulate an output signal, then restore it |
| 11 | io_networks_devices.py | Browse the I/O topology: fieldbus networks, devices and their signals |
| # | Example | Description |
|---|---|---|
| 12 | rapid_tasks.py | List the tasks, read one in detail, its program, its pointers and the execution state |
| 13 | rapid_read_symbol.py | Search the RAPID symbols of a task and read the value and properties of one |
| 14 | rapid_write_symbol.py | Take the edit mastership, write a variable, restore it and release the mastership |
| 15 | rapid_modules.py | List the modules of a task, print the source code and search a text in it |
| 16 | rapid_start_stop.py | Reset the program pointer, start the execution, follow its state and stop it |
| # | Example | Description |
|---|---|---|
| 17 | motion_mechanical_units.py | List the mechanical units, their axes, their base frame and their calibration |
| 18 | motion_current_position.py | Read the current robtarget in each coordinate system, the jointtarget and the axes |
| 19 | motion_kinematics.py | Forward and inverse kinematics on the controller, and every joint solution of a pose |
| # | Example | Description |
|---|---|---|
| 20 | file_browse.py | Walk the controller file system, enter directories and read a file content |
| 21 | file_transfer.py | Upload a local file under $temp, download it back and delete it |
| # | Example | Description |
|---|---|---|
| 22 | elog_messages.py | List the event log domains and read their messages with causes and actions |
| # | Example | Description |
|---|---|---|
| 23 | mastership_info.py | List the mastership domains, see who holds them, take one and release it |
- An example that only reads is safe on any controller. The ones that write ask before each change and put the original value back.
- A virtual controller does not implement every resource of a real one. When it answers 404, the example prints the reason and carries on.
- A controller refuses a write when the mode selector is on manual and the FlexPendant keeps the ownership. The example prints the 403 answer instead of stopping.
- On an OmniCore controller the certificate is signed by the controller itself.
examples/__init__.pyrelaxes the .NET runtime for it before connecting, seeallow_self_signed_certificates().
ABB controllers expose Robot Web Services in two versions. This SDK covers both. The same code runs on an old IRC5 and on a new OmniCore. Only the connection parameters change.
| Controller | RobotWare | Robot Web Services | RwsVersion value |
|---|---|---|---|
| IRC5 | RobotWare 6 and earlier | RWS 1.0 | RwsVersion.Irc5_V1_0 |
| OmniCore | RobotWare 7 and later | RWS 2.0 | RwsVersion.OmniCore_V2_0 |
HTTP or HTTPS is a separate setting (use_https), independent of the controller generation.
| Supported | |
|---|---|
| Robot Controllers | IRC5, OmniCore, and their virtual controllers |
| OS | Windows, Linux, macOS |
| Python | 3.7+ |
| Dependency | pythonnet 3.0.5 (installed automatically) |
The controller needs no ABB option. Robot Web Services is part of a standard system.
We welcome your feedback and contributions.
- Report issues via GitHub Issues
- Submit pull requests with enhancements
- Suggest features and improvements
- 🆓 30-day free trial included out of the box
- 🔄 Get a new trial immediately at underautomation.com/license
- 🛒 Buy a license at underautomation.com/abb
- 📄 EULA: underautomation.com/abb/eula
- 📖 Documentation: underautomation.com/abb/documentation
- 🐍 Python Get Started Guide: underautomation.com/abb/documentation/get-started-python
- 📦 PyPI Package: pypi.org/project/UnderAutomation.ABB
- 📩 Contact Us: underautomation.com/contact