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

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

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

Module used for preparing data for the velocity limiter 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.

Constructor Summary

VelocityLimiter()
Creates a new instance of the module.

Method Summary

com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getActualCartSpeed() Gets the input port for the actualCartSpeed.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getActualSpeedScaleFactor() Gets the output port for the actualSpeedScaleFactor.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getCartSpeedLimited() Gets the output port for the cartSpeedLimited.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getCartSpeedMaxTarget() Gets the input port for the cartSpeedMaxTarget.
com.kuka.roboticsAPI.controllerModel.sunrise.api.InPort	getOperationMode() Gets the input port for the operationMode.
com.kuka.roboticsAPI.controllerModel.sunrise.api.OutPort	getTargetSpeedScaleFactor() Gets the output port for the targetSpeedScaleFactor.

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

VelocityLimiter

public VelocityLimiter()

Creates a new instance of the module.

Method Detail

getCartSpeedMaxTarget

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

Gets the input port for the cartSpeedMaxTarget.

Returns:

the input port for the cartSpeedMaxTarget

getActualCartSpeed

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

Gets the input port for the actualCartSpeed.

Returns:

the input port for the actualCartSpeed

getOperationMode

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

Gets the input port for the operationMode.

Returns:

the input port for the operationMode

getCartSpeedLimited

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

Gets the output port for the cartSpeedLimited.

Returns:

the output port for the cartSpeedLimited

getTargetSpeedScaleFactor

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

Gets the output port for the targetSpeedScaleFactor.

Returns:

the output port for the targetSpeedScaleFactor

getActualSpeedScaleFactor

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

Gets the output port for the actualSpeedScaleFactor.

Returns:

the output port for the actualSpeedScaleFactor