com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode

Interface MoveNodeConfigFactory

Deprecated.

Use the configuration builders available in MoveNodeConfigBuilders interface which is accessible through MoveNode.getConfigBuilders().

@Deprecated
public interface MoveNodeConfigFactory

This interface can be used to construct shared values configurations that can be set on a MoveNode.

Since:

1.2.56

Method Summary

Modifier and Type	Method and Description
MoveJMoveNodeConfig	createMoveJConfig() Deprecated. Creates a default MoveJ shared values configuration.
MoveJMoveNodeConfig	createMoveJConfig(MoveJMotionParameters moveJMotionParameters) Deprecated. Creates a MoveJ shared values configuration.
MoveJMotionParameters	createMoveJMotionParameters(AngularSpeed jointSpeed, ErrorHandler<AngularSpeed> jointSpeedErrorHandler, AngularAcceleration jointAcceleration, ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler) Deprecated. Creates a shared motion parameters object for a MoveJ.
MoveLMoveNodeConfig	createMoveLConfig() Deprecated. Creates a default MoveL shared values configuration.
MoveLMoveNodeConfig	createMoveLConfig(MoveLMotionParameters moveLMotionParameters, Feature feature) Deprecated. Creates a MoveL shared values configuration.
MoveLMotionParameters	createMoveLMotionParameters(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler, Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler) Deprecated. Creates a shared motion parameters object for a MoveL.
MovePMoveNodeConfig	createMovePConfig() Deprecated. Creates a default MoveP shared values configuration.
MovePMoveNodeConfig	createMovePConfig(MovePMotionParameters movePMotionParameters, Feature feature) Deprecated. Creates a MoveP shared values configuration.
MovePMotionParameters	createMovePMotionParameters(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler, Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler, Blend blend, ErrorHandler<Blend> blendErrorHandler) Deprecated. Creates a shared motion parameters object for a MoveP.

Method Detail

createMoveJMotionParameters

MoveJMotionParameters createMoveJMotionParameters(AngularSpeed jointSpeed,
                                                  ErrorHandler<AngularSpeed> jointSpeedErrorHandler,
                                                  AngularAcceleration jointAcceleration,
                                                  ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)

Deprecated.

Creates a shared motion parameters object for a MoveJ.

When used with a move node the parameters apply to the movement of the robot arm, from the previous position through the waypoints under the move node.

Parameters:

jointSpeed - the shared joint speed to be achieved, not null.

jointSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint speed value.

jointAcceleration - the shared joint acceleration to be used, not null.

jointAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid joint acceleration value.

Returns:

the motion parameters for MoveJ.

createMoveLMotionParameters

MoveLMotionParameters createMoveLMotionParameters(Speed toolSpeed,
                                                  ErrorHandler<Speed> toolSpeedErrorHandler,
                                                  Acceleration toolAcceleration,
                                                  ErrorHandler<Acceleration> toolAccelerationErrorHandler)

Deprecated.

Creates a shared motion parameters object for a MoveL.

When used with a move node the parameters apply to the movement of the robot arm, from the previous position through the waypoints under the move node.

Parameters:

toolSpeed - the shared tool speed to be achieved, not null.

toolSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.

toolAcceleration - the shared tool acceleration to be used, not null.

toolAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

Returns:

the motion parameters for MoveL.

createMovePMotionParameters

MovePMotionParameters createMovePMotionParameters(Speed toolSpeed,
                                                  ErrorHandler<Speed> toolSpeedErrorHandler,
                                                  Acceleration toolAcceleration,
                                                  ErrorHandler<Acceleration> toolAccelerationErrorHandler,
                                                  Blend blend,
                                                  ErrorHandler<Blend> blendErrorHandler)

Deprecated.

Creates a shared motion parameters object for a MoveP.

When used with a move node the parameters apply to the movement of the robot arm, from the previous position through the waypoints under the move node.

Parameters:

toolSpeed - the shared tool speed to be achieved, not null.

toolSpeedErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool speed value.

toolAcceleration - the shared tool acceleration to be used, not null.

toolAccelerationErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid tool acceleration value.

blend - the shared blend used with this motion, not null.

blendErrorHandler - error handler for handling validation. If using ErrorHandler.AUTO_CORRECT this will clamp the value to the nearest valid blend value.

Returns:

the motion parameters for MoveP.

createMoveJConfig

MoveJMoveNodeConfig createMoveJConfig()

Deprecated.

Creates a default MoveJ shared values configuration.

Note that the default values of this configuration may change between PolyScope versions.

Returns:

the configuration.

createMoveJConfig

MoveJMoveNodeConfig createMoveJConfig(MoveJMotionParameters moveJMotionParameters)

Deprecated.

Creates a MoveJ shared values configuration.

Parameters:

moveJMotionParameters - the shared parameters for this movement, not null.

Returns:

the configuration.

createMoveLConfig

MoveLMoveNodeConfig createMoveLConfig()

Deprecated.

Creates a default MoveL shared values configuration.

Note that the default values of this configuration may change between PolyScope versions.

Returns:

the configuration.

createMoveLConfig

MoveLMoveNodeConfig createMoveLConfig(MoveLMotionParameters moveLMotionParameters,
                                      Feature feature)

Deprecated.

Creates a MoveL shared values configuration.

Parameters:

moveLMotionParameters - the shared parameters for this movement, not null.

feature - the shared feature for this movement, not null.

Returns:

the configuration.

createMovePConfig

MovePMoveNodeConfig createMovePConfig()

Deprecated.

Creates a default MoveP shared values configuration.

Note that the default values of this configuration may change between PolyScope versions.

Returns:

the configuration.

createMovePConfig

MovePMoveNodeConfig createMovePConfig(MovePMotionParameters movePMotionParameters,
                                      Feature feature)

Deprecated.

Creates a MoveP shared values configuration.

Parameters:

movePMotionParameters - the shared parameters for this movement, not null.

feature - the shared feature for this movement, not null.

Returns:

the configuration.