com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseCartVelocityLimitHandler

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.SunriseCartVelocityLimitHandler

public class SunriseCartVelocityLimitHandler
extends Object

Class for setting and querying velocity related information for Sunrise controllers.

Nested Class Summary

static class

SunriseCartVelocityLimitHandler.EVCStateMessageEnum Values for the possible responses for the DEVOBSCMD_GETCARTVELLIMITS_REQUESTID request (from SafetySignalObs).

Field Summary

static String	DEVICESPECIFIC_VELOCITY_GROUPNAME Name of the IO group for the device specific values.
static String	DEVICESPECIFIC_VELOCITY_OUT_SIGNALNAME Name of the IO signal for the Device specific Cartesian velocity limit.
static int	DEVICESPECIFIC_VELOCITY_SIGNALSIZE Size of the device specific Cartesian velocity limit IO signal in bits.
static String	DEVOBSCMD_GETCARTVELLIMITS_REQUESTID Command ID for getting the velocity limits for all the velocity limit sources (with a "DevObsCmd" SSR from the SafetySignalObs).
static String	DEVOBSCMD_SETDEVICESPECIFICLIMIT_REQUESTID Command ID for setting the device specific Cartesian velocity limit (with a "DevObsCmd" SSR from the SafetySignalObs).
static String	SAFETYSIGNALOBS_ID_AGGREGATEDVELLIMIT Parameter ID for getting the aggregated velocity from the response message for the DEVOBSCMD_GETCARTVELLIMITS_REQUESTID request.
static String	SSR_REQUESTID_DEVICE_OBSERVER_COMMAND String ID of the Device Observer Command SystemSSR type.

Constructor Summary

SunriseCartVelocityLimitHandler(Controller controller, String robotName)
Creates a new Cartesian Velocity Limit Handler instance.

Method Summary

void	deactivateDeviceCartesianVelocityLimit() Deactivates the device specific Cartesian velocity limit.
CartesianVelocityLimitInfo	getCartesianVelocityLimitInfo() Gets a reference to a CartesianVelocityLimits object which contains all the Cartesian Velocity Limit related information for the current robot.
void	setDeviceCartesianVelocityLimit(int cartesianVelocityLimit) Sets the Device specific Cartesian velocity limit to the specified value.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEVOBSCMD_SETDEVICESPECIFICLIMIT_REQUESTID

public static final String DEVOBSCMD_SETDEVICESPECIFICLIMIT_REQUESTID

Command ID for setting the device specific Cartesian velocity limit (with a "DevObsCmd" SSR from the SafetySignalObs).

See Also:

Constant Field Values

DEVOBSCMD_GETCARTVELLIMITS_REQUESTID

public static final String DEVOBSCMD_GETCARTVELLIMITS_REQUESTID

Command ID for getting the velocity limits for all the velocity limit sources (with a "DevObsCmd" SSR from the SafetySignalObs).

See Also:

Constant Field Values

SSR_REQUESTID_DEVICE_OBSERVER_COMMAND

public static final String SSR_REQUESTID_DEVICE_OBSERVER_COMMAND

String ID of the Device Observer Command SystemSSR type.

See Also:

Constant Field Values

DEVICESPECIFIC_VELOCITY_GROUPNAME

public static final String DEVICESPECIFIC_VELOCITY_GROUPNAME

Name of the IO group for the device specific values.

See Also:

Constant Field Values

DEVICESPECIFIC_VELOCITY_OUT_SIGNALNAME

public static final String DEVICESPECIFIC_VELOCITY_OUT_SIGNALNAME

Name of the IO signal for the Device specific Cartesian velocity limit.

See Also:

Constant Field Values

SAFETYSIGNALOBS_ID_AGGREGATEDVELLIMIT

public static final String SAFETYSIGNALOBS_ID_AGGREGATEDVELLIMIT

Parameter ID for getting the aggregated velocity from the response message for the DEVOBSCMD_GETCARTVELLIMITS_REQUESTID request.

See Also:

Constant Field Values

DEVICESPECIFIC_VELOCITY_SIGNALSIZE

public static final int DEVICESPECIFIC_VELOCITY_SIGNALSIZE

Size of the device specific Cartesian velocity limit IO signal in bits.

See Also:

Constant Field Values

Constructor Detail

SunriseCartVelocityLimitHandler

public SunriseCartVelocityLimitHandler(Controller controller,
                                       String robotName)

Creates a new Cartesian Velocity Limit Handler instance.

Parameters:

controller - Reference to the current controller.

robotName - Name of the current robot device on which the Cartesian Velocity Limit operations should be performed.

Method Detail

setDeviceCartesianVelocityLimit

public void setDeviceCartesianVelocityLimit(int cartesianVelocityLimit)

Sets the Device specific Cartesian velocity limit to the specified value.

Parameters:

cartesianVelocityLimit - The new Device specific Cartesian velocity to set in [mm/s].

Throws:

IllegalArgumentException - If the new Device specific Cartesian velocity to set (cartesianVelocityLimit parameter) is not greater than 0.

IllegalStateException - In case the Enhanced Velocity Controller feature is not installed.

deactivateDeviceCartesianVelocityLimit

public void deactivateDeviceCartesianVelocityLimit()

Deactivates the device specific Cartesian velocity limit. It means that after calling this function, the device specific Cartesian velocity limit value will be considered as it were infinite, (in other words this function disables the device specific Cartesian velocity limit).

Throws:

IllegalStateException - In case the Enhanced Velocity Controller feature is not installed.

getCartesianVelocityLimitInfo

public CartesianVelocityLimitInfo getCartesianVelocityLimitInfo()

Gets a reference to a CartesianVelocityLimits object which contains all the Cartesian Velocity Limit related information for the current robot.

Returns:

The filled CartesianVelocityLimits object, or null if there was an error during the request.

Throws:

IllegalStateException - In case the Enhanced Velocity Controller feature is not installed.