Package com.ur.urcap.api.domain.program.nodes.builtin

Interface Summary

Interface	Description
AssignmentNode
CircleMoveNode
CommentNode
DirectionNode
ElseIfNode
ElseNode
FolderNode	This interface represents a Folder program node.
ForceNode
HaltNode
HomeNode	This interface represents a Home program node.
IfNode
LoopNode
MoveNode
PalletNode
PopupNode
ScrewdrivingNode
SeekNode
SetNode
SetPayloadNode	This interface represents the Set Payload program node which can be used for applying a payload.
UntilNode	The Until node is a type of program node that must be under a Waypoint node or Direction node.
WaitNode
WaypointNode

Enum Summary

Enum	Description
PopupNode.Type

Exception Summary

Exception	Description
IllegalWaypointNameException	This exception is thrown if trying to name a waypoint using an illegal name.
InvalidDomainException	This exception is thrown if trying to apply an analog input/output configuration using Voltage to an IO configured to Current or vice versa.
UnreachablePositionException	This exception is thrown, if it is not possible to compute joint positions corresponding to the specified target pose (inverse kinematics failed to find solution), when applying a Waypoint node configuration.