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

java.lang.Object
  com.kuka.roboticsAPI.controllerModel.sunrise.api.SPRComponent
      com.kuka.roboticsAPI.controllerModel.sunrise.api.Module
          com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule
              com.kuka.roboticsAPI.controllerModel.sunrise.api.DeviceObserverModule
                  com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.SafetySignalObs

All Implemented Interfaces:

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

public class SafetySignalObs
extends DeviceObserverModule

Observes the device specific limit values. Is used when some kind of device specific data is needed.

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	OBSERVERNAME Name of the Sunrise Observer represented by this preDefinedCompound.
static String	OUTPORTNAME_CARTESIANVELOCITYLIMIT Name of the OutPort which is used for publishing the currently calculated Cartesian Velocity Limit by the SafetySignalObs.

Constructor Summary

SafetySignalObs(String robotName, SPR parent)
Creates a new SafetySignalObs instance.

Method Summary

OutPort

getCartesianVelocityLimitOutPort() Gets the OutPort for the Cartesian Velocity Limit.

Methods inherited from class com.kuka.roboticsAPI.controllerModel.sunrise.api.ObserverModule

addInPort, getAlias, setAlias

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, 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

Field Detail

OBSERVERNAME

public static final String OBSERVERNAME

Name of the Sunrise Observer represented by this preDefinedCompound.

See Also:

Constant Field Values

OUTPORTNAME_CARTESIANVELOCITYLIMIT

public static final String OUTPORTNAME_CARTESIANVELOCITYLIMIT

Name of the OutPort which is used for publishing the currently calculated Cartesian Velocity Limit by the SafetySignalObs.

See Also:

Constant Field Values

Constructor Detail

SafetySignalObs

public SafetySignalObs(String robotName,
                       SPR parent)

Creates a new SafetySignalObs instance.

Parameters:

robotName - The name of the drive group, which should be observed.

parent - SPR for which this instance is created.

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

getCartesianVelocityLimitOutPort

public OutPort getCartesianVelocityLimitOutPort()

Gets the OutPort for the Cartesian Velocity Limit.

Returns:

The OutPort for the Cartesian Velocity Limit.