com.kuka.roboticsAPI.controllerModel.sunrise.mapping
Class HandGuidingModule

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.mapping.HandGuidingModule

All Implemented Interfaces:

com.kuka.common.IDataEquatable, com.kuka.roboticsAPI.controllerModel.sunrise.api.expressions.IExpressionSegment, com.kuka.roboticsAPI.controllerModel.sunrise.api.ISprComponent, com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.ISegment

public class HandGuidingModule
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

Module for handguiding motions.

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

protected static String

HANDGUIDING_MODULE_NAME Name of gravitiy compensation module.

Constructor Summary

HandGuidingModule()
Create a new instance of the HandGuidingModule and creates the available ports.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAdaptedQSpeedLimitOutPort() gets the adapted axis speed limit out port.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getAxQCmdPort() gets the axis command out port.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getDampingOutPort() gets the damping out port.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getFinishMaintainingPort() gets the out port for possible break closing.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getStiffnessOutPort() gets the stiffness out port.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopRequestInPort() gets the in port for stop requests.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getStopRequestOutPort() Gets the out port for stop requests.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getTargetReachedOutPort() gets the target reached out port.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getVoEnableState() gets the in port for the hand-guiding enabling device status

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

getComponentType, getComponentVersion

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent

addInPort, addInPort, addOutPort, addOutPort, addParameter, getChecksum, getExpressionSegmentString, getInPort, getInPorts, getInstanceName, getName, getOutPort, getOutPorts, getParameter, getParameterList, getSPR, hasSameDataAs, onAsyncEvent, onFinished, onInitialize, onSerialization, onSPRStateChanged, onSPRStateChangedSync, setInstanceName, setName, toString, tryGetParameter

Methods inherited from class java.lang.Object

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

Field Detail

HANDGUIDING_MODULE_NAME

protected static final String HANDGUIDING_MODULE_NAME

Name of gravitiy compensation module.

See Also:

Constant Field Values

Constructor Detail

HandGuidingModule

public HandGuidingModule()

Create a new instance of the HandGuidingModule and creates the available ports.

Method Detail

getAxQCmdPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getAxQCmdPort()

gets the axis command out port.

Returns:

the axis command port.

getStopRequestOutPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getStopRequestOutPort()

Gets the out port for stop requests.

Returns:

the out port for stop requests.

getFinishMaintainingPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getFinishMaintainingPort()

gets the out port for possible break closing.

Returns:

the out port for possible break closing.

getStopRequestInPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getStopRequestInPort()

gets the in port for stop requests.

Returns:

the in port for stop requests.

getVoEnableState

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getVoEnableState()

gets the in port for the hand-guiding enabling device status

Returns:

the in port for the hand-guiding enabling device status

getStiffnessOutPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getStiffnessOutPort()

gets the stiffness out port.

Returns:

the stiffness out port.

getDampingOutPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getDampingOutPort()

gets the damping out port.

Returns:

the damping out port.

getTargetReachedOutPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getTargetReachedOutPort()

gets the target reached out port.

Returns:

the target reached out port.

getAdaptedQSpeedLimitOutPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getAdaptedQSpeedLimitOutPort()

gets the adapted axis speed limit out port.

Returns:

the adapted axis speed limit out port.