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

Interface PayloadNodeConfigFactory

@ProviderType
public interface PayloadNodeConfigFactory

This interface can be used to create configurations that can be applied to a Set Payload program node, i.e. a SetPayloadNode instance.

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
CustomParametersPayloadNodeConfig	createCustomParametersConfig(Mass mass, Position centerOfGravity) This method creates a configuration for the Set Payload node with custom payload parameters and default value for the transition time.
CustomParametersPayloadNodeConfig	createCustomParametersConfig(Mass mass, Position centerOfGravity, Time transitionTime, ErrorHandler<Time> transitionTimeErrorHandler) This method creates a configuration for the Set Payload node with custom payload parameters and specified transition time.
SelectionPayloadNodeConfig	createSelectionConfig(Payload payload) This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and with default value for the transition time.
SelectionPayloadNodeConfig	createSelectionConfig(Payload payload, Time transitionTime, ErrorHandler<Time> transitionTimeErrorHandler) This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and specified transition time.

Method Detail

createSelectionConfig

SelectionPayloadNodeConfig createSelectionConfig(Payload payload)

This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and with default value for the transition time.

Use the PayloadModel interface to get a list of available payloads from the installation to choose from.

Parameters:

payload - The payload (from the installation) to be selected in the Set Payload node, not null.

Returns:

A Set Payload node configuration with the specified payload selection and default transition time

createSelectionConfig

SelectionPayloadNodeConfig createSelectionConfig(Payload payload,
                                                 Time transitionTime,
                                                 ErrorHandler<Time> transitionTimeErrorHandler)

This method creates a configuration for the Set Payload node with a pre-selected payload (from the installation) and specified transition time.

Use the PayloadModel interface to get a list of available payloads from the installation to choose from and use SimpleValueFactory.createTime(double, Time.Unit) to create the required time parameter.

Parameters:

payload - The payload (from the installation) to be selected in the Set Payload node, not null.

transitionTime - Transition time is the time it will take to ramp the payload from the actual payload to the new payload. This can be set to avoid protective stops when handling heavy payloads. Cannot be null.

transitionTimeErrorHandler - Error handler for handling validation. If ErrorHandler.AUTO_CORRECT is used, this will clamp the specified value to the nearest valid transition time value.

Returns:

A Set Payload node configuration with the specified payload selection and transition time

Since:

1.14.0

createCustomParametersConfig

CustomParametersPayloadNodeConfig createCustomParametersConfig(Mass mass,
                                                               Position centerOfGravity)

This method creates a configuration for the Set Payload node with custom payload parameters and default value for the transition time.

Use SimpleValueFactory.createMass(double, Mass.Unit) and the PositionFactory interface to create the required custom payload parameters.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with RobotModel.getRobotLimits() (an instance of the RobotModel interface can be retrieved through SystemAPI.getRobotModel()).

Parameters:

mass - The total mass of the payload attached to the tool flange of the robot, not null. Create it using SimpleValueFactory.createMass(double, Mass.Unit).

centerOfGravity - The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be null. Create it using the PositionFactory interface.

Returns:

A Set Payload node configuration with the specified custom payload parameters and default value for the transition time.

Throws:

IllegalMassException - If the specified mass is not inside the valid range as defined by PolyScope.

IllegalCenterOfGravityException - If any of the values of the specified center of gravity are not inside

Since:

1.14.0

createCustomParametersConfig

CustomParametersPayloadNodeConfig createCustomParametersConfig(Mass mass,
                                                               Position centerOfGravity,
                                                               Time transitionTime,
                                                               ErrorHandler<Time> transitionTimeErrorHandler)

This method creates a configuration for the Set Payload node with custom payload parameters and specified transition time.

Use SimpleValueFactory.createMass(double, Mass.Unit), SimpleValueFactory.createTime(double, Time.Unit) and the PositionFactory interface to create the required parameters.

The valid range for the payload mass and the coordinates of the center of gravity (CoG) are available through the RobotLimits interface which can be accessed with RobotModel.getRobotLimits() (an instance of the RobotModel interface can be retrieved through SystemAPI.getRobotModel()).

Parameters:

mass - The total mass of the payload attached to the tool flange of the robot, not null. Create it using SimpleValueFactory.createMass(double, Mass.Unit).

centerOfGravity - The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be null. Create it using the PositionFactory interface.

transitionTime - Transition time is the time it will take to ramp the payload from the actual payload to the new payload. This can be set to avoid protective stops when handling heavy payloads. Cannot be null.

transitionTimeErrorHandler - Error handler for handling validation. If ErrorHandler.AUTO_CORRECT is used, this will clamp the specified value to the nearest valid transition time value.

Returns:

A Set Payload node configuration with the specified custom payload parameters and transition time.

Throws:

IllegalMassException - If the specified mass is not inside the valid range as defined by PolyScope.

IllegalCenterOfGravityException - If any of the values of the specified center of gravity are not inside the valid range as defined by PolyScope.

Since:

1.14.0