com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseLBR

java.lang.Object
  com.kuka.common.TaggableObject
      com.kuka.roboticsAPI.geometricModel.SceneGraphObject
          com.kuka.roboticsAPI.geometricModel.SpatialObject
              com.kuka.roboticsAPI.geometricModel.PhysicalObject
                  com.kuka.roboticsAPI.deviceModel.Device
                      com.kuka.roboticsAPI.deviceModel.MovableDevice
                          com.kuka.roboticsAPI.deviceModel.Robot
                              com.kuka.roboticsAPI.deviceModel.LBR
                                  com.kuka.roboticsAPI.controllerModel.sunrise.SunriseLBR

All Implemented Interfaces:

com.kuka.common.ITaggable, IMovableSunriseDevice, ISunriseDevice, ISunriseRobot, IForceSensitiveRobot, IOperationModeProvider, ITorqueSensitiveRobot

Direct Known Subclasses:

SunriseLBR5

public class SunriseLBR
extends LBR
implements ISunriseRobot

Represents a LBR that is connected to a Sunrise system.

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.

Field Summary

Fields inherited from class com.kuka.roboticsAPI.deviceModel.LBR

_gmsSensorLimits

Fields inherited from class com.kuka.roboticsAPI.deviceModel.Device

_hardwareVersion

Constructor Summary

SunriseLBR(Controller controller, String name)
Creates a new LBR instance with the given controller.

Method Summary

boolean	areDrivesReady()
void	configure(ActiveDevice pipe, LoadData loadData) Called when the Sunrise robot should configure the specified pipe.
protected ITransformationProvider	createBaseFlangeTransformationProvider() Creates the robot-base-to-flange transformation provider for this robot.
void	deactivateDeviceCartesianVelocityLimit() Deactivates the Device 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.
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.
ISafetyState	getSafetyState() Gets the state of safety signals.
String	getValidatorModuleName() Gets the name of the validator module, that can be used for the device.
protected void	initGmsSensorLimits() Initializes the Sensor Nominal Limits for GMS-Sensor.
boolean	isMotionEnabled() A Robot is motion enabled if the safety signals no stop.
boolean	isReadyToMove() A Robot is ready to move if a movement command can be executed.
void	sendStartTrace() Starts Trace on the Devices Observer with default parameters.
void	sendStartTrace(int numTraceRows, int traceDecimation) Starts Trace on the Devices Observer.
void	sendStopTrace() Stops Trace on the Devices Observer.
void	setDeviceCartesianVelocityLimit(int cartesianVelocityLimit) Sets the Device Cartesian velocity limit to the specified value.
void	setDrivesReady(boolean ready) Sets ready to move value for this device.
void	setESMState(String name) Sets an ESM (Event-driven Safety Monitoring) state configured in the safety configuration.
void	setMotionEnabled(boolean motionEnabled) Sets ready to move value for this device.
void	setSafetyState(SunriseSafetyState safetyState) Sets safety state for this device.
void	setSafetyWorkpiece(PhysicalObject wp) Sets the workpiece load data used by safety monitoring functions.

Methods inherited from class com.kuka.roboticsAPI.deviceModel.LBR

checkTorqueSensor, getAlphaAngle, getAlphaInverseKinematicFromReference, getExternalForceTorque, getExternalForceTorque, getExternalTorque, getInitialHomePosition, getInverseKinematicFromFrameAndRedundancy, getMeasuredTorque, getSensorForExternalForce, getSensorForExternalTorque, getSensorForMeasuredTorque, getSensorForTemperatures, getTemperatures, getTorqueSensorLimits, initializeJointCount, onInitialize

Methods inherited from class com.kuka.roboticsAPI.deviceModel.Robot

calculateLoadOnFlange, checkFrameContainsRedundancy, createDefaultsParameterSet, detachAll, getCommandedCartesianPosition, getCommandedCartesianPosition, getCommandedJointPosition, getCurrentCartesianPosition, getCurrentCartesianPosition, getCurrentJointPosition, getDefaultMotionFrame, getDefaults, getFlange, getForwardKinematic, getHomePosition, getInverseKinematic, getJointCount, getJointLimits, getPositionInformation, getPositionInformation, hasActiveMotionCommand, isInHome, isMastered, move, move, moveAsync, moveAsync, onDispose, setDefaultMotionFrame, setHomePosition, setHomePosition

Methods inherited from class com.kuka.roboticsAPI.deviceModel.MovableDevice

calculateReadyToMove, getOperationMode

Methods inherited from class com.kuka.roboticsAPI.deviceModel.Device

acquireCommandPermit, dispose, getContext, getController, getHardwareVersion, getUniqueName, initialize, isInitialized, refreshHardwareVersion, releaseCommandPermit, setName

Methods inherited from class com.kuka.roboticsAPI.geometricModel.PhysicalObject

addDefaultMotionFrame, getLoadData

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SpatialObject

attachTo, attachTo, changeParent, detach, switchParent, switchParent

Methods inherited from class com.kuka.roboticsAPI.geometricModel.SceneGraphObject

addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, addChildFrame, allObjects, changeFrameParent, changeFramePosition, findMembersOfGroup, findRobot, getAllFrames, getAllUserParameters, getChild, getChildFrameLock, getChildren, getFrame, getName, getParent, getRootFrame, getRootOfGroup, getUserParameter, groupToParent, isDescendantOf, isGroupedToParent, isMemberOfGroup, isRootOfGroup, removeFrame, renameFrame, setRootFrame, setUserParameter, toString, ungroupFromParent

Methods inherited from class com.kuka.common.TaggableObject

getTag, setTag

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.kuka.roboticsAPI.deviceModel.IOperationModeProvider

getOperationMode

Constructor Detail

SunriseLBR

public SunriseLBR(Controller controller,
                  String name)

Creates a new LBR instance with the given controller.

Parameters:

controller - The controller to which this device belongs.

name - The name of 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.

Method Detail

configure

public void configure(ActiveDevice pipe,
                      LoadData loadData)

Called when the Sunrise robot should configure the specified pipe.

Specified by:

configure in interface ISunriseRobot

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

public String getValidatorModuleName()

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

Specified by:

getValidatorModuleName in interface ISunriseRobot

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

public String getObserverName()

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

Specified by:

getObserverName in interface ISunriseRobot

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

public String getPipeName(IMotionControlMode controlMode)

Description copied from interface: ISunriseRobot

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.

Specified by:

getPipeName in interface ISunriseRobot

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.

sendStartTrace

public void sendStartTrace(int numTraceRows,
                           int traceDecimation)

Starts Trace on the Devices Observer.

Parameters:

numTraceRows - - Number of ticks, which are stored.

traceDecimation - - decimate the trace.

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.

sendStartTrace

public void sendStartTrace()

Starts Trace on the Devices Observer with default parameters. Default Parameters are: 6000,1 (aka: take each millisecond sample in 6000 steps -> 6 Seconds duration)

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.

sendStopTrace

public void sendStopTrace()

Stops Trace on the Devices Observer.

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.

isReadyToMove

public boolean isReadyToMove()

A Robot is ready to move if a movement command can be executed. For a general robot this method returns true if the SunriseSafetyState.SafetyStopType is SunriseSafetyState.SafetyStopType.NOSTOP and the correct enabling switch is pressed. To be notified about changes of this state, use IControllerStateListener.onIsReadyToMoveChanged(com.kuka.roboticsAPI.deviceModel.Device, boolean).
This method returns true if:

the SunriseSafetyState.SafetyStopType is SunriseSafetyState.SafetyStopType.NOSTOP,

AND the correct enabling device is pressed,

AND the drives are ready (they are not in an error state).

Overrides:

isReadyToMove in class MovableDevice

Returns:

true, if the robot is ready to move at this moment
false, otherwise

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.

isMotionEnabled

public boolean isMotionEnabled()

A Robot is motion enabled if the safety signals no stop.
This method returns true if:

the SunriseSafetyState.SafetyStopType is SunriseSafetyState.SafetyStopType.NOSTOP,

AND the drives are ready (they are not in an error state).

Overrides:

isMotionEnabled in class MovableDevice

Returns:

true, if the robot is motion enabled at the moment
false, otherwise

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.

setMotionEnabled

public void setMotionEnabled(boolean motionEnabled)

Sets ready to move value for this device.

Specified by:

setMotionEnabled in interface IMovableSunriseDevice

Parameters:

motionEnabled - true if device is ready to move

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.

setDrivesReady

public void setDrivesReady(boolean ready)

Sets ready to move value for this device.

Specified by:

setDrivesReady in interface IMovableSunriseDevice

Parameters:

ready - true if device is ready to move

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.

areDrivesReady

public boolean areDrivesReady()

Returns:

indicates that the drives are ready and not signalling an error.

createBaseFlangeTransformationProvider

protected ITransformationProvider createBaseFlangeTransformationProvider()

Description copied from class: Robot

Creates the robot-base-to-flange transformation provider for this robot.

Specified by:

createBaseFlangeTransformationProvider in class Robot

Returns:

The robot-base-to-flange transformation provider.

setSafetyState

public void setSafetyState(SunriseSafetyState safetyState)

Sets safety state for this device.

Specified by:

setSafetyState in interface IMovableSunriseDevice

Parameters:

safetyState - New 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.

getSafetyState

public ISafetyState getSafetyState()

Gets the state of safety signals.

Overrides:

getSafetyState in class LBR

Returns:

the safety state

initGmsSensorLimits

protected void initGmsSensorLimits()

Description copied from class: LBR

Initializes the Sensor Nominal Limits for GMS-Sensor.

Specified by:

initGmsSensorLimits in class LBR

setESMState

public void setESMState(String name)

Description copied from class: LBR

Sets an ESM (Event-driven Safety Monitoring) state configured in the safety configuration.

If the given parameter is a valid ESM name but the corresponding ESM state is not known in the safety configuration a stop category 1 is performed.

Specified by:

setESMState in class LBR

Parameters:

name - The name of the ESM state. Must be a numeric string between '1' and '10'.

setSafetyWorkpiece

public void setSafetyWorkpiece(PhysicalObject wp)

Description copied from class: LBR

Sets the workpiece load data used by safety monitoring functions.

Accepted value ranges after rounding:

• Mass: [0.001kg; 2000kg]
• Center of Mass translation coordinates: [-10000mm; 10000mm]
• Center of Mass rotation coordinates: [0°; 359°] (or radian equivalent)
• Inertia per axis: [0kg*m^2; 1000kg*m^2]

The value of the mass should be also lower than, or equal to the highest workpiece mass, that is configured under Project/Properties/Sunrise/Safety.

Please note that this mechanism will be changed in future releases.

Specified by:

setSafetyWorkpiece in class LBR

Parameters:

wp - The physical object containing the load data.

setDeviceCartesianVelocityLimit

public void setDeviceCartesianVelocityLimit(int cartesianVelocityLimit)

Sets the Device Cartesian velocity limit to the specified value.

Overrides:

setDeviceCartesianVelocityLimit in class Robot

Parameters:

cartesianVelocityLimit - The new Device 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 Cartesian velocity limit. It means that after calling this function, the Device Cartesian velocity limit value will be considered as it were infinite, (in other words this function disables the Device Cartesian velocity limit).

Overrides:

deactivateDeviceCartesianVelocityLimit in class Robot

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.

Overrides:

getCartesianVelocityLimitInfo in class 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.