com.kuka.roboticsAPI.controllerModel.sunrise
Interface ISafetyState

All Known Implementing Classes:

SunriseSafetyState

public interface ISafetyState

Interface for safety states.

Method Summary

boolean	areAllAxesGMSReferenced() Gets if the GMS sensors of all axes are referenced.
boolean	areAllAxesPositionReferenced() Gets if the position sensors of all axes are referenced.
SunriseSafetyState.EmergencyStop	getEmergencyStopEx() Gets the state of the emergency stop external.
SunriseSafetyState.EmergencyStop	getEmergencyStopInt() Gets the state of the emergency stop internal.
SunriseSafetyState.EnablingDeviceState	getEnablingDeviceState() Gets the state of the enabling device.
com.kuka.roboticsAPI.deviceModel.OperationMode	getOperationMode() Gets the state of the operation mode.
SunriseSafetyState.OperatorSafety	getOperatorSafetyState() Gets the state of the operator safety.
SunriseSafetyState.SafetyStopType	getSafetyStopSignal() Gets the state of the safety stop signal.
boolean	isAxisGMSReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Gets if the GMS sensor of a specific axis is referenced.
boolean	isAxisPositionReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Gets if the position sensor of a specific axis is referenced.

Method Detail

getSafetyStopSignal

SunriseSafetyState.SafetyStopType getSafetyStopSignal()

Gets the state of the safety stop signal.

Returns:

the state of the safety stop

getOperationMode

com.kuka.roboticsAPI.deviceModel.OperationMode getOperationMode()

Gets the state of the operation mode.

Returns:

the state of the operation mode

getEmergencyStopEx

SunriseSafetyState.EmergencyStop getEmergencyStopEx()

Gets the state of the emergency stop external.

Returns:

the external emergency stop state

getEmergencyStopInt

SunriseSafetyState.EmergencyStop getEmergencyStopInt()

Gets the state of the emergency stop internal.

Returns:

the internal emergency stop state

getOperatorSafetyState

SunriseSafetyState.OperatorSafety getOperatorSafetyState()

Gets the state of the operator safety.

Returns:

the operator safety state

getEnablingDeviceState

SunriseSafetyState.EnablingDeviceState getEnablingDeviceState()

Gets the state of the enabling device.

Returns:

the enabling device state

isAxisGMSReferenced

boolean isAxisGMSReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Gets if the GMS sensor of a specific axis is referenced.

Note: If the robot does not have GMS sensors, this method returns false.

Parameters:

axis - the axis where to check the GMS referencing status

Returns:

true, if the axis is GMS referenced
false, if the axis is not GMS referenced or the robot does not have GMS sensors

Throws:

IllegalArgumentException - if the number of the specified axis is greater than the the number of physical axes

areAllAxesGMSReferenced

boolean areAllAxesGMSReferenced()

Gets if the GMS sensors of all axes are referenced.

Note: If the robot does not have GMS sensors, this method returns false.

Returns:

true, if all axes are GMS referenced
false, otherwise

isAxisPositionReferenced

boolean isAxisPositionReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Gets if the position sensor of a specific axis is referenced.

Note: If the robot does not have safe position sensors, this method returns false.

Parameters:

axis - the axis where to check the position referencing status

Returns:

true, if the axis is position referenced
false, if the axis is not position referenced or the robot does not have safe position sensors

Throws:

IllegalArgumentException - if the number of the specified axis is greater than the the number of physical axes

areAllAxesPositionReferenced

boolean areAllAxesPositionReferenced()

Gets if the position sensors of all axes are referenced.

Note: If the robot does not have safe position sensors, this method returns false.

Returns:

true, if all axes are position referenced
false, otherwise