com.kuka.roboticsAPI.controllerModel.sunrise
Class SunriseSafetyState

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

All Implemented Interfaces:

ISafetyState

public final class SunriseSafetyState
extends Object
implements ISafetyState

Class to get the state of sunrise safety signals. Safety states are returned as consistent, immutable snapshots at a single point in time. For an update, a new request needs to be sent, or a listener for controller state changes needs to be implemented.

Nested Class Summary

static class	SunriseSafetyState.EmergencyStop Represents the state of the emergency stop.
static class	SunriseSafetyState.EnablingDeviceState The state of the enabling device.
static class	SunriseSafetyState.OperatorSafety Represents the state of the operator safety.
static class	SunriseSafetyState.SafetyStopType Represents the state of the safety stop.

Method Summary

boolean	areAllAxesGMSReferenced() Gets if the GMS sensors of all axes are referenced.
boolean	areAllAxesPositionReferenced() Gets if the position sensors of all axes are referenced.
protected Device	getDevice() Gets the device to which this safety state belongs to.
SunriseSafetyState.EmergencyStop	getEmergencyStopEx() Gets the state of the emergency stop external.
SunriseSafetyState.EmergencyStop	getEmergencyStopInt() Gets the state of the emergency stop internal.
SunriseSafetyState.EnablingDeviceState	getEnablingDeviceState() Gets the state of the enabling device.
com.kuka.roboticsAPI.deviceModel.OperationMode	getOperationMode() Gets the state of the operation mode.
SunriseSafetyState.OperatorSafety	getOperatorSafetyState() Gets the state of the operator safety.
SunriseSafetyState.SafetyStopType	getSafetyStopSignal() Gets the state of the safety stop signal.
boolean	isAxisGMSReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Gets if the GMS sensor of a specific axis is referenced.
boolean	isAxisPositionReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis) Gets if the position sensor of a specific axis is referenced.
String	toString() Returns a string representation of the safety state.
String	toString(String separator) Returns a string representation of the safety state.

Methods inherited from class java.lang.Object

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

Method Detail

getSafetyStopSignal

public SunriseSafetyState.SafetyStopType getSafetyStopSignal()

Description copied from interface: ISafetyState

Gets the state of the safety stop signal.

Specified by:

getSafetyStopSignal in interface ISafetyState

Returns:

the state of the safety stop

getOperationMode

public com.kuka.roboticsAPI.deviceModel.OperationMode getOperationMode()

Description copied from interface: ISafetyState

Gets the state of the operation mode.

Specified by:

getOperationMode in interface ISafetyState

Returns:

the state of the operation mode

getEmergencyStopEx

public SunriseSafetyState.EmergencyStop getEmergencyStopEx()

Description copied from interface: ISafetyState

Gets the state of the emergency stop external.

Specified by:

getEmergencyStopEx in interface ISafetyState

Returns:

the external emergency stop state

getEmergencyStopInt

public SunriseSafetyState.EmergencyStop getEmergencyStopInt()

Description copied from interface: ISafetyState

Gets the state of the emergency stop internal.

Specified by:

getEmergencyStopInt in interface ISafetyState

Returns:

the internal emergency stop state

getOperatorSafetyState

public SunriseSafetyState.OperatorSafety getOperatorSafetyState()

Description copied from interface: ISafetyState

Gets the state of the operator safety.

Specified by:

getOperatorSafetyState in interface ISafetyState

Returns:

the operator safety state

getEnablingDeviceState

public SunriseSafetyState.EnablingDeviceState getEnablingDeviceState()

Description copied from interface: ISafetyState

Gets the state of the enabling device.

Specified by:

getEnablingDeviceState in interface ISafetyState

Returns:

the enabling device state

isAxisGMSReferenced

public boolean isAxisGMSReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Description copied from interface: ISafetyState

Gets if the GMS sensor of a specific axis is referenced.

Note: If the robot does not have GMS sensors, this method returns false.

Specified by:

isAxisGMSReferenced in interface ISafetyState

Parameters:

axis - the axis where to check the GMS referencing status

Returns:

true, if the axis is GMS referenced
false, if the axis is not GMS referenced or the robot does not have GMS sensors

areAllAxesGMSReferenced

public boolean areAllAxesGMSReferenced()

Description copied from interface: ISafetyState

Gets if the GMS sensors of all axes are referenced.

Note: If the robot does not have GMS sensors, this method returns false.

Specified by:

areAllAxesGMSReferenced in interface ISafetyState

Returns:

true, if all axes are GMS referenced
false, otherwise

isAxisPositionReferenced

public boolean isAxisPositionReferenced(com.kuka.roboticsAPI.deviceModel.JointEnum axis)

Description copied from interface: ISafetyState

Gets if the position sensor of a specific axis is referenced.

Note: If the robot does not have safe position sensors, this method returns false.

Specified by:

isAxisPositionReferenced in interface ISafetyState

Parameters:

axis - the axis where to check the position referencing status

Returns:

true, if the axis is position referenced
false, if the axis is not position referenced or the robot does not have safe position sensors

areAllAxesPositionReferenced

public boolean areAllAxesPositionReferenced()

Description copied from interface: ISafetyState

Gets if the position sensors of all axes are referenced.

Note: If the robot does not have safe position sensors, this method returns false.

Specified by:

areAllAxesPositionReferenced in interface ISafetyState

Returns:

true, if all axes are position referenced
false, otherwise

getDevice

protected Device getDevice()

Gets the device to which this safety state belongs to.

Returns:

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.

toString

public String toString()

Returns a string representation of the safety state.

Overrides:

toString in class Object

Returns:

String representation of the safety state.

toString

public String toString(String separator)

Returns a string representation of the safety state.

Parameters:

separator - Textual separator between elements of the safety state.

Returns:

String representation of the safety state.