com.kuka.roboticsAPI.capabilities.interfaces
Interface ILiftingDeviceCapability

All Superinterfaces:

ICapability, com.kuka.jogging.provider.api.common.ICartesianJoggingSupport, com.kuka.jogging.provider.api.common.IJoggingSupport, IJointPositionInfoCapability

public interface ILiftingDeviceCapability
extends com.kuka.jogging.provider.api.common.ICartesianJoggingSupport, IJointPositionInfoCapability

Interface of the lifting device capability.

Method Summary

double	getDefaultAcceleration() Returns the default acceleration of the lifting device.
double	getDefaultVelocity() Returns the default velocity of the lifting device.
double	getMasteringPosition() Returns the mastering position.
double	getMaximumPosition() Returns the maximum Z position of the lifting device.
double	getMaximumVelocity() Returns the maximum velocity of the lifting device.
double	getMeasuredPosition() Gets the measured position of the lifting device.
double	getPayload() Gets the payload.
com.kuka.roboticsAPI.controllerModel.sunrise.ISafetyState	getSafetyState() Returns the safety state of the lifting device.
boolean	isMastered() Returns the mastering state of the axes.
com.kuka.roboticsAPI.executionModel.ICommandContainer	move(com.kuka.roboticsAPI.commandModel.IAction aMotion) Synchronous move command.
com.kuka.roboticsAPI.executionModel.ICommandContainer	moveAsync(com.kuka.roboticsAPI.commandModel.IAction aMotion) Asynchronous move command.
com.kuka.roboticsAPI.executionModel.ICommandContainer	moveAsync(com.kuka.roboticsAPI.commandModel.IAction aMotion, com.kuka.roboticsAPI.executionModel.IContainerStateListener listener) Asynchronous move command.
void	setPayload(double payload) Sets the payload.

Methods inherited from interface com.kuka.jogging.provider.api.common.ICartesianJoggingSupport

getDegreeOfFreedom, jog, setJoggingBase

Methods inherited from interface com.kuka.jogging.provider.api.common.IJoggingSupport

setTimeout

Methods inherited from interface com.kuka.roboticsAPI.capabilities.interfaces.IJointPositionInfoCapability

getMeasuredJointPosition

Method Detail

setPayload

void setPayload(double payload)

Sets the payload.

Parameters:

payload - How much weight is on the lifting device [kg]. Must not be negative and must be smaller than maximum payload enabled for the device. If not set 0.0 kg payload is considered for the movements.

getPayload

double getPayload()

Gets the payload. [kg]

Returns:

the payload of the lifting device

move

com.kuka.roboticsAPI.executionModel.ICommandContainer move(com.kuka.roboticsAPI.commandModel.IAction aMotion)

Synchronous move command.

Parameters:

aMotion - the motion action

Returns:

the execution state of the movement

moveAsync

com.kuka.roboticsAPI.executionModel.ICommandContainer moveAsync(com.kuka.roboticsAPI.commandModel.IAction aMotion)

Asynchronous move command.

Parameters:

aMotion - the motion action

Returns:

the execution state of the movement

moveAsync

com.kuka.roboticsAPI.executionModel.ICommandContainer moveAsync(com.kuka.roboticsAPI.commandModel.IAction aMotion,
                                                                com.kuka.roboticsAPI.executionModel.IContainerStateListener listener)

Asynchronous move command.

Parameters:

aMotion - the motion action

listener - container state listener

Returns:

the execution state of the movement

getMeasuredPosition

double getMeasuredPosition()

Gets the measured position of the lifting device.

Returns:

the measured position [mm]

getMaximumPosition

double getMaximumPosition()

Returns the maximum Z position of the lifting device.

Returns:

the maximum position [mm]

getMaximumVelocity

double getMaximumVelocity()

Returns the maximum velocity of the lifting device.

Returns:

the maximum velocity [mm/s]

getDefaultVelocity

double getDefaultVelocity()

Returns the default velocity of the lifting device.

Returns:

the default velocity [mm/s]

getDefaultAcceleration

double getDefaultAcceleration()

Returns the default acceleration of the lifting device.

Returns:

the default acceleration [mm/s2]

isMastered

boolean isMastered()

Returns the mastering state of the axes.

Returns:

true, if all axes are mastered

getSafetyState

com.kuka.roboticsAPI.controllerModel.sunrise.ISafetyState getSafetyState()

Returns the safety state of the lifting device.

Returns:

the actual safety state

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getMasteringPosition

double getMasteringPosition()

Returns the mastering position.

Returns:

The mastering position.