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

Interface SelectionPayloadNodeConfig

All Superinterfaces:

PayloadNodeConfig

@ProviderType
public interface SelectionPayloadNodeConfig
extends PayloadNodeConfig

This interface represents a configuration of the Set Payload node where a payload (from the installation) has been selected.

Since:

1.13.0

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode.PayloadNodeConfig

PayloadNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
Payload	getPayload()
Time	getTransitionTime()

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode.PayloadNodeConfig

getConfigType

Method Detail

getPayload

Payload getPayload()

Returns:

The payload selection for this Set Payload node

getTransitionTime

Time getTransitionTime()

Returns:

The defined transition time for this Set Payload node. The Transition time is the time used to ramp the payload from the robot's current active payload to the selected payload.

Since:

1.14.0