@ProviderType
public interface MoveJConfigBuilder
This interface can be used to build a single MoveJ configuration that can be applied to a Move node. Each configuration
to be built should ideally use a new MoveJConfigBuilder
instance.
For any configuration parameter where a value is not specified (using the corresponding set method), a default value
will be used when the new configuration is built whereas the original value will be used when an existing configuration
was copied using the copyFrom(MoveJMoveNodeConfig)
method.
To build a configuration with non-default values for the TCP selection and joint speed parameter, use the following code snippet:
MoveJMoveNodeConfig newConfig = configBuilder.setTCPSelection(tcpSelection)
.setJointSpeed(jointSpeed, ErrorHandler.AUTO_CORRECT)
.build();
To change the value of the joint acceleration in the current configuration, use the following code snippet to build
a new updated configuration:
configBuilder.copyFrom(currentConfig);
MoveJMoveNodeConfig updatedConfig = configBuilder.setJointAcceleration(newJointAcceleration)
.build();
Modifier and Type | Method and Description |
---|---|
MoveJMoveNodeConfig |
build()
Build the MoveJ configuration for the Move node.
|
MoveJConfigBuilder |
copyFrom(MoveJMoveNodeConfig source)
Copy configuration parameter values from one configuration (source) to another (this) builder
|
MoveJConfigBuilder |
setFeature(Feature feature)
Set feature for the MoveJ configuration.
|
MoveJConfigBuilder |
setJointAcceleration(AngularAcceleration jointAcceleration,
ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)
Set joint acceleration parameter for the MoveJ configuration.
|
MoveJConfigBuilder |
setJointSpeed(AngularSpeed jointSpeed,
ErrorHandler<AngularSpeed> jointSpeedErrorHandler)
Set joint speed parameter for the MoveJ configuration.
|
MoveJConfigBuilder |
setTCPSelection(TCPSelection tcpSelection)
Set the TCP selection for the MoveJ configuration.
|
MoveJConfigBuilder copyFrom(MoveJMoveNodeConfig source)
source
- The original configuration to copy parameter values from.MoveJConfigBuilder setJointSpeed(AngularSpeed jointSpeed, ErrorHandler<AngularSpeed> jointSpeedErrorHandler)
Set joint speed parameter for the MoveJ configuration.
The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.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.MoveJConfigBuilder setJointAcceleration(AngularAcceleration jointAcceleration, ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)
Set joint acceleration parameter for the MoveJ configuration.
The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.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.MoveJConfigBuilder setFeature(Feature feature)
Set feature for the MoveJ configuration.
The feature will be used for the movement of the robot arm, from the previous position through the waypoints under the Move node.feature
- The shared feature for this movement, not null
.MoveJConfigBuilder setTCPSelection(TCPSelection tcpSelection)
Set the TCP selection for the MoveJ configuration.
The TCP will be set as the active TCP before the movement of the robot arm, from the previous position through the waypoints under the Move node, is performed.
SeeTCPSelection
which can be created using the TCPSelectionFactory
interface.tcpSelection
- The TCP setting to be applied.MoveJMoveNodeConfig build()
Build the MoveJ configuration for the Move node.
A default configuration can be built by calling this method without invoking any of the set methods in this interface.Copyright © 2023. All rights reserved.