Package com.kuka.roboticsAPI.controllerModel.sunrise

Contains the controller implementation for the sunrise controller including it's IO interface.

See:
Description

Interface Summary

IContainerQueuedListener	Listener interface for container queued even notifications.
IControllerWithOverride	Interface for override related methods, that are implemented by a controller which knows about override.
IDynamicTransformationProvider	A dynamic transformation provider returns a current transformation for a frame.
IFencedArea	An interface which allows us to control the access of threads to a certain code area.
IMovableSunriseDevice	Interface for movable devices that are controlled by sunrise.
IPrimitiveCallback	Callback interface to extend the functionality of StackPrimitive.
ISafetyState	Interface for safety states.
ISPRCancelBehavior	Interface describing canceling behavior of SPR.
ISPRHook	Implementing classes may register themselves at a SunriseExecutionService.
ISunriseCommandExecutor	Interface that should implement classes that can execute SPRs.
ISunriseControllerStateListener	Callback interface for state changes of a sunrise controller.
ISunriseDevice	This interface indicates that a device is a Sunrise device.
ISunriseRequestService	Interface for accessing Sunrise SSR execution methods.
ISunriseRobot	A robot controlled by Sunrise.
ISunriseSensorModuleConfig	Interface to configure a sunrise sensor module.
SPRRuntime.ISPRCancelListener	Listener which is called if nobody has canceled the SPR so far and the cancel process is started.
SunriseExecutionService.IPauseListener	A listener for the pause.

Class Summary

AbstractSunriseController	Abstract class for Sunrise controller.
DefaultCancelBehavior	Default cancel behavior for every new SPR.
DeviceMappingSnapshot	Contains device information that is used at mapping, for example the information needed for setting the reset flag in the spline motion mapping (first motion, stop condition fired etc).
ExternalForceTorqueCalculator	The class provides the functionality to get the measured as well as the external force and torque values for user-defined tools.
ExternalForceTorqueCalculator.ExternalForceTorqueCalculationResult	Contains the measured and calculated external force and torque values.
ExternalForceTorqueCalculator.ExternalForceTorqueValues	Contains external force and torque values for the load data of a tool.
FencedArea	See IFencedArea.
FiredConditionInfo	Sunrise implementation of fired condition result.
FiredTriggerInfo	This class contains information about a fired trigger.
LbrTemperatureBusData	The class LbrTemperatureBusData contains the information needed to obtain temperature data from the bus.
MotionEvents	Class holding constants for motion events.
MotionIDSetter	Listens for a creation of a new SPR-ID in SPRRuntime and sets it in the SplineMotionModule of the Spline Motion SPR.
MotionSprPrimitive	Primitiv Klasse für die MotionSPR die für jede Bewegung einen eigenen SPR abbilden.
ParameterConfiguration	Responsible for overriding compound parameters that are set in the mapping or predefined compound definitions.
Primitive	A Primitive represents a Sunrise-specific controller command.
SPRCommand	A command wrapping a SPR execution.
SprPrimitive	A Primitive consisting of exactly one SPR that has the same life cycle as the Primitive.
SPRRuntime	Class managing all runtime issues of the associated SPR.
SPRUtilities	Utility class with some helper methods for mapping.
StatePortDeserializer	Deserializer for state port data.
StatePortSerializer	Serializer for state port data.
StopConditionType	StopConditionIndex is defined in Sunrise as follows.
SunriseApplication	Base class for a native Sunrise application using just SPRs.
SunriseCartVelocityLimitHandler	Class for setting and querying velocity related information for Sunrise controllers.
SunriseConnection	Holds a connection to a Sunrise controller.
SunriseController	Controller class for Sunrise.
SunriseControllerStateListenerAdapter	Base implementation of a Sunrise-specific controller listener.
SunriseDeviceList	The list containing the devices for the Sunrise controller.
SunriseEcatCtrlBus	SunriseEcatCtrlBus provides access to EtherCAT bus for hardware information.
SunriseExecutionContainer	An ExecutionContainer for Sunrise controller commands.
SunriseExecutionService	Sunrise execution service.
SunriseLBR	Represents a LBR that is connected to a Sunrise system.
SunriseLBR5	Represents a SunriseLBR of version 5.
SunriseLBR5kg14	Represents a SunriseLBR of version 5 14kg.
SunriseLBR5kg7	Represents a SunriseLBR of version 5 7kg.
SunriseLBRBaseFlangeTrafoProvider	The robot-base-to-flange transformation provider for a SunriseLBR instance.
SunriseMotionContainer	Represents the state of a motion execution.
SunriseMotionExecutionContainer	An ExecutionContainer for Sunrise MOTION controller commands, in other words, this execution container should be used whenever a motion is involved.
SunriseRecordingCommand	Class to manage recordingSPRs and DataRecorder.
SunriseRecordingService	Sunrise service class for data recording and statistic calculation.
SunriseRequestService	The Sunrise request service handles the requests Sunrise knows.
SunriseSafetyState	Class to get the state of sunrise safety signals.
TorqueStatisticCommand	Command dealing with torque statistic data.

Enum Summary

IFencedArea.GateState	The states the gate can have.
LbrTemperatureBusData.JointTemperatureSensor	This enumeration contains communication information about sensor data on bus for joint related sensors (motor/GMS temperatures).
LbrTemperatureBusData.PdsTemperatureSensor	This enumeration contains communication information about sensor data on the bus for the temperature sensors on the PDS board.
MotionEvents.MotionEvent	Event that comes from motion (ipo) modules.
MotionEvents.MotionInfoParams	Parameters of MOTION_INFO events.
ResumeMode	Resume execution modes for sunrise execution service.
SunriseCartVelocityLimitHandler.EVCStateMessageEnum	Values for the possible responses for the DEVOBSCMD_GETCARTVELLIMITS_REQUESTID request (from SafetySignalObs).
SunriseCommandType	Defined the possible command types for sunrise.
SunriseCompoundMode	Enumeration with the possible Sunrise compound modes.
SunriseCompoundType	Enumeration with the possible sunrise compounds.
SunriseSafetyState.EmergencyStop	Represents the state of the emergency stop.
SunriseSafetyState.EnablingDeviceState	The state of the enabling device.
SunriseSafetyState.OperatorSafety	Represents the state of the operator safety.
SunriseSafetyState.SafetyStopType	Represents the state of the safety stop.

Exception Summary

SunriseConnectionException

Exception for sunrise connection errors.

Package com.kuka.roboticsAPI.controllerModel.sunrise Description

Contains the controller implementation for the sunrise controller including it's IO interface.

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.