RobotStudio event

How to use Mechanism class to read Denavit-Hartemberg parameters

I need to get the Denavit-Hartemberg (DH) representation of an IRB 2600 robot. 
I set up a Robot Studio environment with the robot model and related controller.

According to this post it should be possible to get the DH representation by using the Mechanism class (C# language I assume).

Therefore, I installed the RobotStudio SDK and I set up a Visual Studio environment following

Does anyone know how to instantiate a Mechanism object? I cannot find any example or documentation.
Or alternatively, how can I get the DH parameters of a robot instantiated in the Robot Studio environment?

I've also tried to read the PIM.xml file but I cannot find any sections related to the DH parameters.

Thank you