com.kuka.roboticsAPI.sensorModel
Class LbrJointTemperatureSensorData

java.lang.Object
  com.kuka.roboticsAPI.sensorModel.LbrJointTemperatureSensorData

public final class LbrJointTemperatureSensorData
extends Object

The temperature sensor data is a snapshot of temperature values for a specific LBR. For an update, the sensor needs to be queried again.

Constructor Summary

LbrJointTemperatureSensorData(int[][] jointTemperatures)
Creates a new immutable instance of this type.

Method Summary

int	getSingleTemperatureGms1(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Returns the temperature of the first sensor installed on a joint specific torque sensor board.
int	getSingleTemperatureGms2(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Returns the temperature of the second sensor installed on a joint specific torque sensor board.
int	getSingleTemperatureMotor1(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Returns the motor temperature value of sensor 1 for a specific joint.
int	getSingleTemperatureMotor2(com.kuka.roboticsAPI.deviceModel.JointEnum joint) Returns the motor temperature value of sensor 2 for a specific joint.
int[]	getTemperaturesGms1() Returns the temperatures of the first sensor installed on the torque sensor board.
int[]	getTemperaturesGms2() Returns the temperatures from the second sensor installed on the torque sensor board.
int[]	getTemperaturesMotor1() Returns the motor temperature values from sensor 1.
int[]	getTemperaturesMotor2() Returns the motor temperature values from sensor 2.
String	toString()

Methods inherited from class java.lang.Object

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

Constructor Detail

LbrJointTemperatureSensorData

public LbrJointTemperatureSensorData(int[][] jointTemperatures)

Creates a new immutable instance of this type.

Parameters:

jointTemperatures - Array of the following temperature arrays:

1. temperaturesMotor1 Motor temperatures from sensor 1,
2. temperaturesMotor2 Motor temperatures from sensor 2,
3. temperaturesGms1 Temperatures from the first sensor installed on the torque sensor board,
4. temperaturesGms2 Temperatures from the second sensor installed on the torque sensor board.

Method Detail

getTemperaturesMotor1

public int[] getTemperaturesMotor1()

Returns the motor temperature values from sensor 1. The unit of the measured temperature values is degree Celsius [°C].

Returns:

Motor temperatures from all joints

getSingleTemperatureMotor1

public int getSingleTemperatureMotor1(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Returns the motor temperature value of sensor 1 for a specific joint. The joint is identified with an input parameter of type JointEnum. The unit of the measured temperature value is degree Celsius [°C].

Parameters:

joint - The joint for which to query the current temperature sensor data.

Returns:

Motor temperature from a specific joint

getTemperaturesMotor2

public int[] getTemperaturesMotor2()

Returns the motor temperature values from sensor 2. The unit of the measured temperature values is degree Celsius [°C].

Returns:

Motor temperatures from all joints

getSingleTemperatureMotor2

public int getSingleTemperatureMotor2(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Returns the motor temperature value of sensor 2 for a specific joint. The joint is identified with an input parameter of type JointEnum. The unit of the measured temperature value is degree Celsius [°C].

Parameters:

joint - The joint for which to query the current temperature sensor data.

Returns:

Motor temperature from a specific joint

getTemperaturesGms1

public int[] getTemperaturesGms1()

Returns the temperatures of the first sensor installed on the torque sensor board. The unit of the measured temperature values is degree Celsius [°C].

Returns:

GMS temperatures from all joints

getSingleTemperatureGms1

public int getSingleTemperatureGms1(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Returns the temperature of the first sensor installed on a joint specific torque sensor board. The joint is identified with an input parameter of type JointEnum. The unit of the measured temperature value is degree Celsius [°C].

Parameters:

joint - The joint for which to query the current temperature sensor data.

Returns:

GMS temperature from a specific joint

getTemperaturesGms2

public int[] getTemperaturesGms2()

Returns the temperatures from the second sensor installed on the torque sensor board. The unit of the measured temperature values is degree Celsius [°C].

Returns:

GMS temperatures from all joints

getSingleTemperatureGms2

public int getSingleTemperatureGms2(com.kuka.roboticsAPI.deviceModel.JointEnum joint)

Returns the temperature of the second sensor installed on a joint specific torque sensor board. The joint is identified with an input parameter of type JointEnum. The unit of the measured temperature value is degree Celsius [°C].

Parameters:

joint - The joint for which to query the current temperature sensor data.

Returns:

GMS temperature from a specific joint

toString

public String toString()

Overrides:

toString in class Object