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

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

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 MobPlatSpdCntrl
extends com.kuka.roboticsAPI.controllerModel.sunrise.api.Module

Module for mobile platform speed control.

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

MobPlatSpdCntrl()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartPosDesPort() Gets the input port for the desired cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartPosMsrPort() Gets the input port for the measures cartesian position.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedDesPort() Gets the input port for the desired cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedMsrPort() Gets the input port for the measured cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getOdoSpeedCmdPort() Gets the output port for the commanded cartesian speed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getTrackingErrorExceededPort() Gets the output port which indicates if the tracking error is exceeded.

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

MobPlatSpdCntrl

public MobPlatSpdCntrl()

Creates a new instance of the module.

Method Detail

getCartPosMsrPort

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

Gets the input port for the measures cartesian position.

Returns:

the input port for measures cartesian position

getCartSpeedMsrPort

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

Gets the input port for the measured cartesian speed.

Returns:

the input port for measured cartesian speed

getCartPosDesPort

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

Gets the input port for the desired cartesian position.

Returns:

the input port for desired cartesian position

getCartSpeedDesPort

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

Gets the input port for the desired cartesian speed.

Returns:

the input port for desired cartesian speed

getOdoSpeedCmdPort

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

Gets the output port for the commanded cartesian speed.

Returns:

the output port for the commanded cartesian speed

getTrackingErrorExceededPort

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

Gets the output port which indicates if the tracking error is exceeded.

Returns:

the output port which indicates if the tracking error is exceeded