com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseLBR5

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
                                      com.kuka.roboticsAPI.controllerModel.sunrise.SunriseLBR5

All Implemented Interfaces:

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

Direct Known Subclasses:

SunriseLBR5kg14, SunriseLBR5kg7

public abstract class SunriseLBR5
extends SunriseLBR

Represents a SunriseLBR of version 5.

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

SunriseLBR5(Controller controller, String name)
Creates a new LBR5 instance with the given controller.

Method Summary

com.kuka.roboticsAPI.controllerModel.StatePortState

refreshHardwareVersion() Refreshes the hardware version.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.SunriseLBR

areDrivesReady, configure, createBaseFlangeTransformationProvider, deactivateDeviceCartesianVelocityLimit, getCartesianVelocityLimitInfo, getObserverName, getPipeName, getSafetyState, getValidatorModuleName, initGmsSensorLimits, isMotionEnabled, isReadyToMove, sendStartTrace, sendStartTrace, sendStopTrace, setDeviceCartesianVelocityLimit, setDrivesReady, setESMState, setMotionEnabled, setSafetyState, setSafetyWorkpiece

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, 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

SunriseLBR5

public SunriseLBR5(Controller controller,
                   String name)

Creates a new LBR5 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

refreshHardwareVersion

public com.kuka.roboticsAPI.controllerModel.StatePortState refreshHardwareVersion()

Refreshes the hardware version.

Overrides:

refreshHardwareVersion in class Device

Returns:

state port state Unknown

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.