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

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

All Implemented Interfaces:

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

public class CartesianVelocityLimiter
extends Module

Module that limits the Cartesian velocity in test operation modes.

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

CartesianVelocityLimiter(Robot robot, boolean isVelocityMonitorMode)
Creates an instance of the class for the specified device.

Method Summary

void	addCartesianVelocityAssignment(SPR sprToAdd) Adds an assignment between the Cartesian Velocity Limit input of this instance of the Cartesian Velocity Limiter module and the corresponding output of the SafetySignalObs module.
InPort	getAxIn()
InPort	getCartesianVeloctiyLimit()
InPort	getExtFinishedNow()
OutPort	getFinishNowOut()
InPort	getIpoActiveIn()
InPort	getOvAct()
InPort	getOvDes()
OutPort	getOvOut()
OutPort	getSpeedExceeded()
InPort	getTool()
protected void	onFinished() Don't react to operation mode changes any more, when the SPR goes to 'Finished'.
protected void	onSerialization() Called when the SPR in which this compound is added, is serialized.

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, onInitialize, 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

CartesianVelocityLimiter

public CartesianVelocityLimiter(Robot robot,
                                boolean isVelocityMonitorMode)

Creates an instance of the class for the specified device.

Parameters:

robot - Robot device for which this module is created.

isVelocityMonitorMode - - true: the module will be used in "VelocityMonitor" mode to supervise if the velocity of the tool and the flange is below the Reduced-operating mode defined limit (250 mm/s), and indicate on it's DFE outputs if the limit is violated for a given timespan. - false: the module will be used in "VelocityLimiter" mode to keep the velocity of the observed frames attached to the robot below a specific limit with controlling the override in contribution with the interpolator module.

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

addCartesianVelocityAssignment

public void addCartesianVelocityAssignment(SPR sprToAdd)

Adds an assignment between the Cartesian Velocity Limit input of this instance of the Cartesian Velocity Limiter module and the corresponding output of the SafetySignalObs module. (The SafetySignalObs aggregates the Device specific Cartesian velocity limit with the Safety Cartesian velocity limit and the operation mode specific limit (min). )

Parameters:

sprToAdd - The SPR in which the assignment shall be added between the _cartesianVeloctiyLimit in port of the module and the corresponding output port of the SafetySignalObs.

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.

onFinished

protected void onFinished()

Don't react to operation mode changes any more, when the SPR goes to 'Finished'. Notice: we still react to the changes, when the SPR is in 'Maintaining'. This is just a precaution and most likely not needed (because of STOP0, see above).

Overrides:

onFinished in class SPRComponent

onSerialization

protected void onSerialization()

Description copied from class: SPRComponent

Called when the SPR in which this compound is added, is serialized.

Overrides:

onSerialization in class SPRComponent

getAxIn

public InPort getAxIn()

Returns:

the axMsrIn

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.

getTool

public InPort getTool()

Returns:

the Tool Inport

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.

getOvOut

public OutPort getOvOut()

Returns:

the axMsrOut

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.

getIpoActiveIn

public InPort getIpoActiveIn()

Returns:

the ipoActive

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.

getOvAct

public InPort getOvAct()

Returns:

the ovAct

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.

getOvDes

public InPort getOvDes()

Returns:

the ovDes

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.

getExtFinishedNow

public InPort getExtFinishedNow()

Returns:

the extFinishNow

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.

getSpeedExceeded

public OutPort getSpeedExceeded()

Returns:

the speedExceeded

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.

getFinishNowOut

public OutPort getFinishNowOut()

Returns:

the finishNow

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.

getCartesianVeloctiyLimit

public InPort getCartesianVeloctiyLimit()

Returns:

the Safety Cartesian Velocity Limit InPort

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.