com.kuka.roboticsAPI.capabilities.driveBrakeTest
Interface IDriveBrakeTestCapability

All Superinterfaces:

ICapability

All Known Implementing Classes:

DriveBrakeTestCapabilityImpl

public interface IDriveBrakeTestCapability
extends ICapability

Interface of the drive brake test capability.

Method Summary

void	brakeTest(int axisIndex, double torque) Executes the drive brake test on the device.
void	brakeTest(Map<Integer,Double> torquesByAxisIndex) Executes the drive brake test on all the axises.
int[]	getAllAxisIndex() Returns the axis index of all axises.
DriveBrakeTestResult	getLatestResult(int axisIndex) Returns the latest result of the drive brake tests for one axis.
DriveBrakeTestResult[]	getLatestResults() Returns the latest result of the drive brake tests for every axis ordered by axis index.
DriveBrakeTestRange	getTorqueRange(int axisIndex) Returns the torque range (minimum, default, maximum) for one axis.

Method Detail

brakeTest

void brakeTest(int axisIndex,
               double torque)

Executes the drive brake test on the device.

Parameters:

axisIndex - which axis should be tested

torque - the axis torque defined during the brake test execution

brakeTest

void brakeTest(Map<Integer,Double> torquesByAxisIndex)

Executes the drive brake test on all the axises.

Parameters:

torquesByAxisIndex - the different axis torques defined during the brake test execution by axisId.

getAllAxisIndex

int[] getAllAxisIndex()

Returns the axis index of all axises.

Returns:

the number of axises

getLatestResult

DriveBrakeTestResult getLatestResult(int axisIndex)

Returns the latest result of the drive brake tests for one axis.

Parameters:

axisIndex - for which axis should we get the latest results

Returns:

the result of the latest drive brake tests for the axis

getLatestResults

DriveBrakeTestResult[] getLatestResults()

Returns the latest result of the drive brake tests for every axis ordered by axis index.

Returns:

the result of the latest drive brake tests

getTorqueRange

DriveBrakeTestRange getTorqueRange(int axisIndex)

Returns the torque range (minimum, default, maximum) for one axis.

Parameters:

axisIndex - for which axis should we get the torque range

Returns:

the torque range