com.kuka.roboticsAPI.controllerModel.sunrise.predefinedCompounds.kmp
Class CartSpeedCommander

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

All Implemented Interfaces:

com.kuka.common.IDataEquatable, com.kuka.roboticsAPI.controllerModel.sunrise.api.expressions.IExpressionSegment, com.kuka.roboticsAPI.controllerModel.sunrise.api.ISprComponent, com.kuka.roboticsAPI.controllerModel.sunrise.connectionLib.ISegment

public class CartSpeedCommander
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

Class for the Sunrise module CartSpeedCommander.

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	CART_SPEED_PARAMETER_NAME Name of the cartesian speed parameter.
static String	DEFAULT_MODULE_NAME Default name of the module.

Constructor Summary

CartSpeedCommander()
Creates a new instance of the module.

Method Summary

void	addTraceParameters() Adds tracing parameters to the module.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartSpeedCmdPort() Gets the OutPort that contains the commanded velocities of the CartSpeedCommander module.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedMsrPort() Gets the input port for the measured Cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getIpoStoppedPort() Gets the output port for the ipo stopped signal.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOverridePort() Gets the input port for the override.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getStopMotionRequestPort() Gets the input port for stop motion requests.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getSystemTimePort() Gets the input port for the system time.
void	setAcceleration(double transAccX, double transAccY, double rotAcc) Sets the acceleration of the platform.
void	setDeceleration(double transDecX, double transDecY, double rotDec) Sets the deceleration of the platform.
void	setInitialVelocities(double[] vels) Sets the initial velocity values.

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

Field Detail

CART_SPEED_PARAMETER_NAME

public static final String CART_SPEED_PARAMETER_NAME

Name of the cartesian speed parameter.

See Also:

Constant Field Values

DEFAULT_MODULE_NAME

public static final String DEFAULT_MODULE_NAME

Default name of the module.

See Also:

Constant Field Values

Constructor Detail

CartSpeedCommander

public CartSpeedCommander()

Creates a new instance of the module.

Method Detail

setInitialVelocities

public void setInitialVelocities(double[] vels)

Sets the initial velocity values.

Parameters:

vels - the initial velocity values.

getCartSpeedCmdPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getCartSpeedCmdPort()

Gets the OutPort that contains the commanded velocities of the CartSpeedCommander module.

Returns:

the OutPort that contains the commanded velocities of the CartSpeedCommander module.

getCartSpeedMsrPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getCartSpeedMsrPort()

Gets the input port for the measured Cartesian speed.

Returns:

CartSpeedMsr Port

getIpoStoppedPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort getIpoStoppedPort()

Gets the output port for the ipo stopped signal.

Returns:

ipoStopped dfe port

getStopMotionRequestPort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getStopMotionRequestPort()

Gets the input port for stop motion requests.

Returns:

StopMotionRequest dfe port

addTraceParameters

public void addTraceParameters()

Adds tracing parameters to the module.

setAcceleration

public void setAcceleration(double transAccX,
                            double transAccY,
                            double rotAcc)

Sets the acceleration of the platform.

Parameters:

transAccX - translational acceleration in X-direction in mm/s^2

transAccY - translational acceleration in Y-direction in mm/s^2

rotAcc - rotational acceleration in rad/s^2

setDeceleration

public void setDeceleration(double transDecX,
                            double transDecY,
                            double rotDec)

Sets the deceleration of the platform.

Parameters:

transDecX - translational deceleration in X-direction in mm/s^2

transDecY - translational deceleration in Y-direction in mm/s^2

rotDec - rotational deceleration in rad/s^2

getOverridePort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getOverridePort()

Gets the input port for the override.

Returns:

the input port for the override.

getSystemTimePort

public com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort getSystemTimePort()

Gets the input port for the system time.

Returns:

the input port for the system time.