com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering
Class PositionMastering

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.positionMastering.PositionMastering

All Implemented Interfaces:

IPositionMastering

public class PositionMastering
extends Object
implements IPositionMastering

Class to perform the position mastering. Offers methods to trigger the mastering of specific joint, to get the sensor position, to set the new home position of the joint and to invalidate the current 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.

Field Summary

static String

NO_TOOL_ID ID that can be send to the position mastering SSR when no tool is used for mastering actions.

Constructor Summary

PositionMastering(ISunriseRequestService reqService, Robot robot)
Creates an instance of this class.

PositionMastering(Robot robot)
Creates an instance of this class.

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() Uses the IpoHome interface to determine the state of the EMD electronic mastering device.
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.

Methods inherited from class java.lang.Object

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

Field Detail

NO_TOOL_ID

public static final String NO_TOOL_ID

ID that can be send to the position mastering SSR when no tool is used for mastering actions.

See Also:

Constant Field Values

Constructor Detail

PositionMastering

public PositionMastering(Robot robot)

Creates an instance of this class.

Parameters:

robot - The robot object for which to perform the 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.

PositionMastering

public PositionMastering(ISunriseRequestService reqService,
                         Robot robot)

Creates an instance of this class.

Parameters:

robot - The robot object for which to perform the mastering.

reqService - request service for SSR execution

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 Detail

getCoupledJoints

public Map<Integer,int[]> getCoupledJoints()

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

Specified by:

getCoupledJoints in interface IPositionMastering

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

public 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]

Specified by:

getMasteringInfo in interface IPositionMastering

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

public boolean[] getMasteringStates()

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

Specified by:

getMasteringStates in interface IPositionMastering

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

public void unmasterPosition(int jointIndex)

Invalidates the position of the given axis/joint.

Specified by:

unmasterPosition in interface IPositionMastering

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

public PositionRange getPositionRangeState(int jointIndex)
                                    throws PositionRangeException

Returns the current position range state.

Specified by:

getPositionRangeState in interface IPositionMastering

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

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

Uses the IpoHome interface to determine the state of the EMD electronic mastering device.

Specified by:

getMasteringDeviceState in interface IPositionMastering

Returns:

state of the EMD 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

public void setStandardPositionControllerRequest(int jointIndex,
                                                 boolean isStandardPositionControllerRequested)

Sets the request for the standard position controller.

Specified by:

setStandardPositionControllerRequest in interface IPositionMastering

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

public void resetNotchDetection(int jointIndex)

Resets the recording of the mastering device (resetIpoHome).

Specified by:

resetNotchDetection in interface IPositionMastering

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

public void activateNotchDetection(int jointIndex)

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

Specified by:

activateNotchDetection in interface IPositionMastering

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

public boolean isNotchDetected(int jointIndex)

Checks if the mastering notch has been detected.

Specified by:

isNotchDetected in interface IPositionMastering

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

public 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.

Specified by:

setToolIds in interface IPositionMastering

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

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

Performs the position mastering of the given axis.

Specified by:

masterPosition in interface IPositionMastering

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

public 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).

Specified by:

learnToolOffset in interface IPositionMastering

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

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

Checks the mastering and tool offset.

Specified by:

checkMastering in interface IPositionMastering

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

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

Sets the motor position and encoder reference values.

Specified by:

setPosition in interface IPositionMastering

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

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

Sets the tool offset.

Specified by:

setToolOffset in interface IPositionMastering

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

public void saveOnDevice()

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

Specified by:

saveOnDevice in interface IPositionMastering

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.