com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest
Class BrakeTestResult

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.brakeTest.BrakeTestResult

public class BrakeTestResult
extends Object

Contains the results of the brake test.

Constructor Summary

BrakeTestResult(int axis, int motorIndex, int brakeIndex, double friction, double gravity, double measuredBrakeHoldingTorque, double motorHoldingTorque, double motorMaximalTorque, double maxBrakeHoldingTorque, double minBrakeHoldingTorque, double testedTorque, BrakeState state)
Constructor.

Method Summary

int	getAxis() Returns axis index whose brake was tested.
int	getBrakeIndex() Returns the index of the brake of the tested motor.
double	getFriction() Returns the determined friction.
double	getGravity() Returns the determined gravitation.
double	getMaxBrakeHoldingTorque() Returns the configured brake not to exceed holding torque in [Nm].
double	getMeasuredBrakeHoldingTorque() Returns the measured holding torque of the brake in [Nm].
double	getMinBrakeHoldingTorque() Returns the configured brake minimal holding torque in [Nm].
double	getMotorHoldingTorque() Returns the configured motor holding torque in [Nm].
int	getMotorIndex() Returns the index of the motor of the tested drive.
double	getMotorMaximalTorque() Returns the configured motor maximal torque in [Nm].
BrakeState	getState() Represents the result state of the brake test.
double	getTestedTorque() Returns minimum between motor holding torque, brake holding torque and absolute holding torque (e.g. maximum of an application torque) to be tested.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

BrakeTestResult

public BrakeTestResult(int axis,
                       int motorIndex,
                       int brakeIndex,
                       double friction,
                       double gravity,
                       double measuredBrakeHoldingTorque,
                       double motorHoldingTorque,
                       double motorMaximalTorque,
                       double maxBrakeHoldingTorque,
                       double minBrakeHoldingTorque,
                       double testedTorque,
                       BrakeState state)

Constructor.

Parameters:

axis - the axis index, whose brake was tested.

motorIndex - the index of the motor of the tested drive (0-based).

brakeIndex - the index of the brake of the tested motor (0-based).

friction - the determined friction in [Nm].

gravity - the determined gravitation in [Nm].

measuredBrakeHoldingTorque - the measured brake holding torque in [Nm].

motorHoldingTorque - the configured motor holding torque in [Nm].

motorMaximalTorque - the configured motor maximal torque in [Nm].

maxBrakeHoldingTorque - the configured brake not to exceed holding torque in [Nm].

minBrakeHoldingTorque - the configured brake minimal holding torque in [Nm].

testedTorque - given minimum between motor holding torque, brake holding torque and absolute holding torque (e.g. maximum of an application torque) to be tested in [Nm].

state - represents the result state of the brake test

Method Detail

getAxis

public final int getAxis()

Returns axis index whose brake was tested.

Returns:

The id of the axis.

getMotorIndex

public final int getMotorIndex()

Returns the index of the motor of the tested drive.

Returns:

the index of the motor of the tested drive (0-based).

getBrakeIndex

public final int getBrakeIndex()

Returns the index of the brake of the tested motor.

Returns:

the index of the brake of the tested motor (0-based).

getFriction

public final double getFriction()

Returns the determined friction.

Returns:

the determined friction in [Nm].

getGravity

public final double getGravity()

Returns the determined gravitation.

Returns:

the determined gravitation in [Nm].

getMeasuredBrakeHoldingTorque

public final double getMeasuredBrakeHoldingTorque()

Returns the measured holding torque of the brake in [Nm].

Returns:

The measured holding torque of the brake in [Nm].

getMotorHoldingTorque

public final double getMotorHoldingTorque()

Returns the configured motor holding torque in [Nm].

Returns:

The configured motor holding torque in [Nm].

getMotorMaximalTorque

public final double getMotorMaximalTorque()

Returns the configured motor maximal torque in [Nm].

Returns:

The configured motor maximal torque in [Nm].

getMaxBrakeHoldingTorque

public final double getMaxBrakeHoldingTorque()

Returns the configured brake not to exceed holding torque in [Nm].

Returns:

The configured brake not to exceed holding torque in [Nm].

getMinBrakeHoldingTorque

public final double getMinBrakeHoldingTorque()

Returns the configured brake minimal holding torque in [Nm].

Returns:

The configured brake minimal holding torque in [Nm].

getTestedTorque

public final double getTestedTorque()

Returns minimum between motor holding torque, brake holding torque and absolute holding torque (e.g. maximum of an application torque) to be tested. Against the tested torque the brake test will be executed.

Returns:

The tested torque in [Nm].

getState

public final BrakeState getState()

Represents the result state of the brake test.

Returns:

The state.

toString

public String toString()

Overrides:

toString in class Object