com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration

Interface CustomPayloadParameters

All Superinterfaces:

PayloadSetting

public interface CustomPayloadParameters
extends PayloadSetting

This interface represents a configuration of the payload setting for a Gripper node where custom payload parameters are used. The specified custom payload parameters can be accessed with this interface.

Since:

1.13.0

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.PayloadSetting

PayloadSetting.SettingType

Method Summary

Modifier and Type	Method and Description
Optional<Mass>	getPayloadMass() This method returns the total payload mass (if any is specified) to be applied after the gripper action has finished executing.

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration.PayloadSetting

getSettingType

Method Detail

getPayloadMass

Optional<Mass> getPayloadMass()

This method returns the total payload mass (if any is specified) to be applied after the gripper action has finished executing.

The payload setting on the Gripper node can be enabled with no payload mass specified (the associated 'Set Total Payload' payload mass field is empty). Therefore the payload mass is wrapped in an Optional, whose Optional.isPresent() method must always be used to check if a payload mass has been specified before accessing it using Optional.get().

Returns:

The total payload mass wrapped in an Optional. Use Optional.isPresent() to verify that a payload mass value has been specified before using Optional.get() to retrieve it.