com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseLBR5kg14

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
                                          com.kuka.roboticsAPI.controllerModel.sunrise.SunriseLBR5kg14

All Implemented Interfaces:

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

public class SunriseLBR5kg14
extends SunriseLBR5

Represents a SunriseLBR of version 5 14kg.

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

SunriseLBR5kg14(Controller controller, String name)
Creates a new LBR5_14kg instance with the given controller.

Method Summary

protected void

initGmsSensorLimits() Initializes the Sensor Nominal Limits for GMS-Sensor.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.SunriseLBR5

refreshHardwareVersion

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

areDrivesReady, configure, createBaseFlangeTransformationProvider, deactivateDeviceCartesianVelocityLimit, getCartesianVelocityLimitInfo, getObserverName, getPipeName, getSafetyState, getValidatorModuleName, 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

SunriseLBR5kg14

public SunriseLBR5kg14(Controller controller,
                       String name)

Creates a new LBR5_14kg 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

initGmsSensorLimits

protected void initGmsSensorLimits()

Initializes the Sensor Nominal Limits for GMS-Sensor.

Overrides:

initGmsSensorLimits in class SunriseLBR