com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering
Interface IPositionMastering

All Known Implementing Classes:

PositionMastering

public interface IPositionMastering

This interface offers functions for the mastering functionality.

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 Summary

void	activateNotchDetection(int jointIndex) Activate the recording of the mastering device and the recognition of the mastering notch (resetIpoHome and activateIpoHome).
com.kuka.roboticsAPI.deviceModel.MasteringCheckResult	checkMastering(int jointIndex, String toolId, com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod, int mamesOffsetSign) Checks the mastering and tool offset.
Map<Integer,int[]>	getCoupledJoints() Returns for each joint an array with the corresponding coupled joints.
com.kuka.roboticsAPI.deviceModel.MasteringDeviceState	getMasteringDeviceState() Returns the state of the mastering device, i.e. if it is connected to the controller and if it has detected contact, i.e. the axis is in the mastering range
PositionMasteringInfo	getMasteringInfo(String toolId) Returns the current complete state of the position mastering for all axes.
boolean[]	getMasteringStates() Returns the current states of position mastering for the all axes/joints.
PositionRange	getPositionRangeState(int jointIndex) Returns the current position range state.
boolean	isNotchDetected(int jointIndex) Checks if the mastering notch has been detected.
com.kuka.roboticsAPI.deviceModel.ToolOffsetValidity	learnToolOffset(int jointIndex, String toolId, com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod, int mamesOffsetSign) Learns the tool offset and saves it under the given tool identifier if the returned toolOffsetValidity is not illegal (0).
void	masterPosition(int jointIndex, String toolId, com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod, int mamesOffsetSign) Performs the position mastering of the given axis.
void	resetNotchDetection(int jointIndex) Resets the recording of the mastering device (resetIpoHome).
void	saveOnDevice() Save the mastering data (encoder references and tool offsets) on the device.
void	setPosition(int jointIndex, String toolId, double newMotorPosition, double newEncoderReference) Sets the motor position and encoder reference values.
void	setStandardPositionControllerRequest(int jointIndex, boolean isStandardPositionControllerRequested) Sets the request for the standard position controller.
ToolOffsetMemoryStatus	setToolIds(String[] toolIds) Receives a list with the toolIds of all configured tools, removes all entries in the cal file which are not contained in the received list, and returns the current and maximal possible number of tools with tool offsets in the cal file.
void	setToolOffset(int jointIndex, String toolId, double newToolOffset) Sets the tool offset.
void	unmasterPosition(int jointIndex) Invalidates the position of the given axis/joint.

Method Detail

getCoupledJoints

Map<Integer,int[]> getCoupledJoints()

Returns for each joint an array with the corresponding coupled joints.

Returns:

map with coupled joints for each joint index

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.

getMasteringInfo

PositionMasteringInfo getMasteringInfo(String toolId)

Returns the current complete state of the position mastering for all axes.

state of the position mastering [unmastered|mastered]

state of the encoder references [missing|existing]

state of the tool offsets if a valid tool identifier is provided [missing|existing]

Parameters:

toolId - the tool identifier ["NO_TOOL"|UUID], may be null (=="NO_TOOL")

Returns:

the current complete state of position mastering.

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.

getMasteringStates

boolean[] getMasteringStates()

Returns the current states of position mastering for the all axes/joints.

Returns:

the current mastering states for all joints

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.

unmasterPosition

void unmasterPosition(int jointIndex)

Invalidates the position of the given axis/joint.

Parameters:

jointIndex - zero based index of the axis/joint

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.

getPositionRangeState

PositionRange getPositionRangeState(int jointIndex)
                                    throws PositionRangeException

Returns the current position range state.

Parameters:

jointIndex - zero based index of the axis/joint

Returns:

the current position range state.

Throws:

PositionRangeException - if something went wrong

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.

getMasteringDeviceState

com.kuka.roboticsAPI.deviceModel.MasteringDeviceState getMasteringDeviceState()

Returns the state of the mastering device, i.e. if it is connected to the controller and if it has detected contact, i.e. the axis is in the mastering range

Returns:

state of the mastering 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.

setStandardPositionControllerRequest

void setStandardPositionControllerRequest(int jointIndex,
                                          boolean isStandardPositionControllerRequested)

Sets the request for the standard position controller.

Parameters:

jointIndex - zero based index of the axis/joint

isStandardPositionControllerRequested - flag signaling the request for the standard position controller

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.

resetNotchDetection

void resetNotchDetection(int jointIndex)

Resets the recording of the mastering device (resetIpoHome).

Parameters:

jointIndex - zero based index of the axis/joint

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.

activateNotchDetection

void activateNotchDetection(int jointIndex)

Activate the recording of the mastering device and the recognition of the mastering notch (resetIpoHome and activateIpoHome).

Parameters:

jointIndex - zero based index of the axis/joint

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.

isNotchDetected

boolean isNotchDetected(int jointIndex)

Checks if the mastering notch has been detected.

Parameters:

jointIndex - zero based index of the axis/joint

Returns:

true if the mastering position was found, otherwise false.

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.

setToolIds

ToolOffsetMemoryStatus setToolIds(String[] toolIds)

Receives a list with the toolIds of all configured tools, removes all entries in the cal file which are not contained in the received list, and returns the current and maximal possible number of tools with tool offsets in the cal file.

Parameters:

toolIds - an array with current tool ids

Returns:

the current tool offset memory state

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.

masterPosition

void masterPosition(int jointIndex,
                    String toolId,
                    com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod,
                    int mamesOffsetSign)

Performs the position mastering of the given axis.

Parameters:

jointIndex - zero based index of the axis/joint

toolId - tool identifier ["NO_TOOL"|UUID], may be null (=="NO_TOOL")

masteringMethod - the used method

mamesOffsetSign - the mames offset sign

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.

learnToolOffset

com.kuka.roboticsAPI.deviceModel.ToolOffsetValidity learnToolOffset(int jointIndex,
                                                                    String toolId,
                                                                    com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod,
                                                                    int mamesOffsetSign)

Learns the tool offset and saves it under the given tool identifier if the returned toolOffsetValidity is not illegal (0).

Parameters:

jointIndex - zero based index of the axis/joint

toolId - tool identifier [UUID]

masteringMethod - the used method

mamesOffsetSign - the mames offset sign

Returns:

the validity of the tool offset

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.

checkMastering

com.kuka.roboticsAPI.deviceModel.MasteringCheckResult checkMastering(int jointIndex,
                                                                     String toolId,
                                                                     com.kuka.roboticsAPI.deviceModel.MasteringMethod masteringMethod,
                                                                     int mamesOffsetSign)

Checks the mastering and tool offset.

Parameters:

jointIndex - zero based index of the axis/joint

toolId - tool identifier ["NO_TOOL"|UUID], may be null (=="NO_TOOL")

masteringMethod - the used method

mamesOffsetSign - the mames offset sign

Returns:

the mastering check result

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.

setPosition

void setPosition(int jointIndex,
                 String toolId,
                 double newMotorPosition,
                 double newEncoderReference)

Sets the motor position and encoder reference values.

Parameters:

jointIndex - zero based index of the axis/joint

toolId - tool identifier ["NO_TOOL"|UUID], may be null (=="NO_TOOL")

newMotorPosition - the new motor position

newEncoderReference - the new encoder reference

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.

setToolOffset

void setToolOffset(int jointIndex,
                   String toolId,
                   double newToolOffset)

Sets the tool offset.

Parameters:

jointIndex - zero based index of the axis/joint

toolId - tool identifier [UUID]

newToolOffset - the new tool offset

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.

saveOnDevice

void saveOnDevice()

Save the mastering data (encoder references and tool offsets) on 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.