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

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

All Implemented Interfaces:

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

public class TorqueCharLineModule
extends Module

Module for controlling torque limits of gears and torque sensors.

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

TorqueCharLineModule(LBR robbi)
Creates a new instance.

Method Summary

OutPort	getAxisGmsTorqueLimitsArr() Contains Torque limits which is the minimum of torque sensor Limit and gear characteristic line limit.
InPort	getAxisTorqueArr() The port expecting the current axis torques.
InPort	getAxisVelArr() The port expecting a axis velocities from the observer.
OutPort	getTorqueLimitExceededMask() The port containing flags for each axis indicating whether torque limits.

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

TorqueCharLineModule

public TorqueCharLineModule(LBR robbi)

Creates a new instance.

Parameters:

robbi - Reference for the robot object.

Method Detail

getAxisVelArr

public InPort getAxisVelArr()

The port expecting a axis velocities from the observer.

Returns:

the in port

getAxisTorqueArr

public InPort getAxisTorqueArr()

The port expecting the current axis torques.

Returns:

the in port

getTorqueLimitExceededMask

public OutPort getTorqueLimitExceededMask()

The port containing flags for each axis indicating whether torque limits. are exceeded

Returns:

the out port

getAxisGmsTorqueLimitsArr

public OutPort getAxisGmsTorqueLimitsArr()

Contains Torque limits which is the minimum of torque sensor Limit and gear characteristic line limit.

Returns:

the out port