com.kuka.roboticsAPI.controllerModel.sunrise
Interface ISunriseRobot

All Superinterfaces:

IMovableSunriseDevice, ISunriseDevice

All Known Implementing Classes:

SunriseLBR, SunriseLBR5, SunriseLBR5kg14, SunriseLBR5kg7

public interface ISunriseRobot
extends IMovableSunriseDevice

A robot controlled by Sunrise.

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.

Method Summary

void	configure(ActiveDevice pipe, LoadData loadData) Called when the Sunrise robot should configure the specified pipe.
String	getObserverName() Gets the name of the observer, that can be used for the device.
String	getPipeName(IMotionControlMode controlMode) Gets the name of the pipe to be used for motion with the specified control mode.
String	getValidatorModuleName() Gets the name of the validator module, that can be used for the device.

Methods inherited from interface com.kuka.roboticsAPI.controllerModel.sunrise.IMovableSunriseDevice

setDrivesReady, setMotionEnabled, setSafetyState

Method Detail

configure

void configure(ActiveDevice pipe,
               LoadData loadData)

Called when the Sunrise robot should configure the specified pipe.

Parameters:

pipe - The pipe.

loadData - load data for robot flange

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.

getValidatorModuleName

String getValidatorModuleName()

Gets the name of the validator module, that can be used for the device.

Returns:

The name of the validator module, that can be used for the device.

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.

getObserverName

String getObserverName()

Gets the name of the observer, that can be used for the device.

Returns:

The name of the observer, that can be used for the device.

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.

getPipeName

String getPipeName(IMotionControlMode controlMode)

Gets the name of the pipe to be used for motion with the specified control mode.

If the pipe should be chosen by the control mode mapper, null should be returned.

Parameters:

controlMode - the control mode that is used for the motion.

Returns:

the name of the pipe or null, if the pipe should be chosen by the control mode mapper.

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.