com.kuka.roboticsAPI.motionModel
Class BrakeTest

java.lang.Object
  com.kuka.roboticsAPI.commandModel.Action<T>
      com.kuka.roboticsAPI.motionModel.Motion<BrakeTest>
          com.kuka.roboticsAPI.motionModel.BrakeTest

All Implemented Interfaces:

IAction, IRuntimeDataProvider<BrakeTestRuntimeData>, IKROSMotion, IMotion, IParameterizable

public final class BrakeTest
extends Motion<BrakeTest>
implements IKROSMotion, IRuntimeDataProvider<BrakeTestRuntimeData>

Performs the brake test for an individual brake against a specific torque. The specific torque is called tested torque. The tested torque is the minimum of motor holding torque, brake holding torque and an optional absolute holding torque (e.g. maximum torque of an application).

Field Summary

static String

MOTION_NAME Brake test motion name string constant.

Constructor Summary

BrakeTest(int axis)
Constructor.

BrakeTest(int axis, double torque)
Constructor.

Method Summary

void	activateCyclicBrakeTestMonitoring() Activate cyclic brake test monitoring.
BrakeTestRuntimeData	createRuntimeData() Creates a runtime data object.
static BrakeTestResult	evaluateResult(IMotionContainer motionContainer) Extracts the information from the container, evaluates it and returns it as BrakeTestResult.
int	getAxis() Returns the axis index whose associated brake was tested.
Collection<ICondition>	getConditions() Gets all conditions defined for this motion.
IMotionControlMode	getMode() Gets the control mode parameter.
double	getRequiredHoldingTorque() Returns the holding torque.
double	getTimeOut() Returns the time out for the brake test.
boolean	hasConditions() Returns true if there are conditions defined for this motion.
boolean	hasMotionOverlay() Returns true if there are motion overlays defined for this motion.
boolean	hasTrigger() Returns true if there are trigger defined for this motion.
boolean	isApplicableFor(IMotionControlMode newMotionControlMode) Each motion has to determine if it supports the given motion control mode.
boolean	isCyclicBrakeTestMonitoringActive() Returns whether the cyclic brake test monitoring is activated.
boolean	isRequiredHoldingTorqueSet() Returns if or if not the holding torque against which the brake test should be executed is set.
String	toString()

Methods inherited from class com.kuka.roboticsAPI.motionModel.Motion

acquireResources, setMode

Methods inherited from class com.kuka.roboticsAPI.commandModel.Action

addParameter, addParams, getParams, releaseResources, removeParameter, self

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface com.kuka.roboticsAPI.commandModel.IAction

acquireResources, releaseResources

Methods inherited from interface com.kuka.roboticsAPI.motionModel.IParameterizable

getParams

Field Detail

MOTION_NAME

public static final String MOTION_NAME

Brake test motion name string constant.

See Also:

Constant Field Values

Constructor Detail

BrakeTest

public BrakeTest(int axis)

Constructor.

Parameters:

axis - the axis index, whose associated brake should be tested.

BrakeTest

public BrakeTest(int axis,
                 double torque)

Constructor.

Parameters:

axis - the axis index, whose associated brake should be tested.

torque - the holding torque in [Nm] against which the brake test should be executed. The actual torque against which the brake test will be executed (tested torque) equals 0.2*min{motor holding torque, brake holding torque}, if the absolute value of holding torque is smaller then 0.2*min{motor holding torque, brake holding torque}, otherwise it equals to min{motor holding torque, brake holding torque, absolute holding torque}.

Method Detail

evaluateResult

public static BrakeTestResult evaluateResult(IMotionContainer motionContainer)

Extracts the information from the container, evaluates it and returns it as BrakeTestResult.

Parameters:

motionContainer - the motion container, which contains all information about the latest brake test.

Returns:

The result of the brake test.

getAxis

public int getAxis()

Returns the axis index whose associated brake was tested.

Returns:

The id of the axis.

isRequiredHoldingTorqueSet

public boolean isRequiredHoldingTorqueSet()

Returns if or if not the holding torque against which the brake test should be executed is set.

Returns:

True, if the holding torque is set, otherwise false.

getRequiredHoldingTorque

public double getRequiredHoldingTorque()

Returns the holding torque.

Returns:

the holding torque.

getTimeOut

public double getTimeOut()

Returns the time out for the brake test.

Returns:

The time out for the brake test.

activateCyclicBrakeTestMonitoring

public void activateCyclicBrakeTestMonitoring()

Activate cyclic brake test monitoring.

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.

isCyclicBrakeTestMonitoringActive

public boolean isCyclicBrakeTestMonitoringActive()

Returns whether the cyclic brake test monitoring is activated.

Returns:

true, if the cyclic brake test monitoring is activated.

createRuntimeData

public BrakeTestRuntimeData createRuntimeData()

Description copied from interface: IRuntimeDataProvider

Creates a runtime data object.

Specified by:

createRuntimeData in interface IRuntimeDataProvider<BrakeTestRuntimeData>

Returns:

the created runtime data object.

isApplicableFor

public boolean isApplicableFor(IMotionControlMode newMotionControlMode)

Description copied from interface: IKROSMotion

Each motion has to determine if it supports the given motion control mode. The method is called before the motion is sent to the controller.

Specified by:

isApplicableFor in interface IKROSMotion

Parameters:

newMotionControlMode - The new motion control mode.

Returns:

True if the new mode is supported, false otherwise.

getMode

public IMotionControlMode getMode()

Description copied from interface: IKROSMotion

Gets the control mode parameter.

Specified by:

getMode in interface IKROSMotion

Returns:

The control mode parameter.

getConditions

public Collection<ICondition> getConditions()

Description copied from interface: IKROSMotion

Gets all conditions defined for this motion.

Specified by:

getConditions in interface IKROSMotion

Returns:

Unmodifiable collection containing all conditions defined on this motion. If there are no condition defined - returns empty collection.

hasConditions

public boolean hasConditions()

Description copied from interface: IKROSMotion

Returns true if there are conditions defined for this motion.

Specified by:

hasConditions in interface IKROSMotion

Returns:

true if there are conditions set for this motion.

hasTrigger

public boolean hasTrigger()

Description copied from interface: IKROSMotion

Returns true if there are trigger defined for this motion.

Specified by:

hasTrigger in interface IKROSMotion

Returns:

true if there are trigger set for this motion.

hasMotionOverlay

public boolean hasMotionOverlay()

Description copied from interface: IKROSMotion

Returns true if there are motion overlays defined for this motion.

Specified by:

hasMotionOverlay in interface IKROSMotion

Returns:

true if there are motion overlays set for this motion.

toString

public String toString()

Overrides:

toString in class Object