public interface MoveLConfigBuilder
This interface can be used to build a single MoveL configuration that can be applied to a Move node. Each configuration
to be built should ideally use a new MoveLConfigBuilder 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(MoveLMoveNodeConfig) method.
To build a configuration with non-default values for the TCP selection and tool speed parameter, use the following code snippet:
MoveLMoveNodeConfig newConfig = configBuilder.setTCPSelection(tcpSelection)
.setToolSpeed(toolSpeed, ErrorHandler.AUTO_CORRECT)
.build();
To change the selected feature of the current configuration, use the following code snippet to build a new updated
configuration:
configBuilder.copyFrom(currentConfig);
MoveLMoveNodeConfig updatedConfig = configBuilder.setFeature(feature)
.build();
| Modifier and Type | Method and Description |
|---|---|
MoveLMoveNodeConfig |
build()
Build the MoveL configuration for the Move node.
|
MoveLConfigBuilder |
copyFrom(MoveLMoveNodeConfig source)
Copy configuration parameter values from one configuration (source) to another (this) builder
|
MoveLConfigBuilder |
setFeature(Feature feature)
Set feature for the MoveL configuration.
|
MoveLConfigBuilder |
setTCPSelection(TCPSelection tcpSelection)
Set the TCP selection for the MoveL configuration.
|
MoveLConfigBuilder |
setToolAcceleration(Acceleration toolAcceleration,
ErrorHandler<Acceleration> toolAccelerationErrorHandler)
Set tool acceleration parameter for the MoveL configuration.
|
MoveLConfigBuilder |
setToolSpeed(Speed toolSpeed,
ErrorHandler<Speed> toolSpeedErrorHandler)
Set tool speed parameter for the MoveL configuration.
|
MoveLConfigBuilder copyFrom(MoveLMoveNodeConfig source)
source - The original configuration to copy parameter values from.MoveLConfigBuilder setToolSpeed(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler)
Set tool speed parameter for the MoveL configuration.
The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.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.MoveLConfigBuilder setToolAcceleration(Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler)
Set tool acceleration parameter for the MoveL configuration.
The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.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.MoveLConfigBuilder setFeature(Feature feature)
Set feature for the MoveL 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.MoveLConfigBuilder setTCPSelection(TCPSelection tcpSelection)
Set the TCP selection for the MoveL 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.MoveLMoveNodeConfig build()
Build the MoveL 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.