com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds
Class AxisValidatorModule

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.AxisValidatorModule

All Implemented Interfaces:

com.kuka.common.IDataEquatable, IExpressionSegment, ISprComponent, ISegment

public class AxisValidatorModule
extends Module

Validation module for axis values.

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.

Constructor Summary

AxisValidatorModule(String moduleName)
Creates a new validator module.

Method Summary

void	configure(Robot robot, IMotionControlMode mode, SPR spr, boolean useAxisLimit) Configures the validator module.
InPort	getAreAxesMasteredInPort() Gets the port containing the mastering status of all axes.
OutPort	getIsValidOutPort() Gets the port which contains the flag which indicates if the new values were valid.
InPort	getNewValuesInPort() Gets the port containing the new commanded values.
OutPort	getValidatedValuesOutPort() Gets the port containing the validated values (old or new ones).

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

Constructor Detail

AxisValidatorModule

public AxisValidatorModule(String moduleName)

Creates a new validator module.

Parameters:

moduleName - The name of the module. Is different for different devices, so the name is configurable.

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

getAreAxesMasteredInPort

public InPort getAreAxesMasteredInPort()

Gets the port containing the mastering status of all axes.

Returns:

The port containing the mastering status of all axes.

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.

getNewValuesInPort

public InPort getNewValuesInPort()

Gets the port containing the new commanded values.

Returns:

The port containing the new commanded values.

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.

getValidatedValuesOutPort

public OutPort getValidatedValuesOutPort()

Gets the port containing the validated values (old or new ones).

Returns:

The port containing the validated values (old or new ones).

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.

getIsValidOutPort

public OutPort getIsValidOutPort()

Gets the port which contains the flag which indicates if the new values were valid.

Returns:

The port which contains the flag which indicates if the new values were valid.

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.

configure

public void configure(Robot robot,
                      IMotionControlMode mode,
                      SPR spr,
                      boolean useAxisLimit)

Configures the validator module.

Parameters:

robot - The robot.

mode - The control mode.

spr - The spr.

useAxisLimit - Indicates if the axis limit stop condition should be used.

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.