This code can be used to control an ABB robotic arm with EGM implemented using a Kincet sensor. The robot must be compatible with RobotWare 6.x. All tests were run on an IRB140 industrial robotic arm

The skeleton for the code in Program.cs is made by ABB, and there are done some small changes in this application. EGM.cs in an autogenerated class from the egm.proto - file.

More information regarding EGM can be found in: Application manual- Controller Software IRC5 released by ABB.