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

Interface GripActionConfigBuilder

@ProviderType
public interface GripActionConfigBuilder

This interface can be used to build a single gripper configuration for a grip action. The resulting configuration can be applied to a GripperNode instance.

Each configuration being built should ideally use a new GripActionConfigBuilder instance. Note that if a gripper selection was specified when the builder was used to create a configuration for a Gripper node (which is using a multi-gripper device), then a new builder instance must be obtained to create a new configuration for another Gripper node which is using a single gripper device.

Note: The various available gripper devices can support different sets of capabilities. Therefore use GripperDevice.getCapabilitySupport(Class) to ensure that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports a specific capability (or set of capabilities) before applying a configuration. Applying a configuration not supported by the gripper node/device will throw an exception.

Since:

1.9.0

Method Summary

Modifier and Type	Method and Description
GripActionConfig	build() Build the gripper configuration for a Gripper program node.
GripActionConfigBuilder	setEmptyGripperSelection() Set an empty gripper selection for a Gripper node that uses a multi-gripper device, i.e.
GripActionConfigBuilder	setEmptyPayloadMass() Enable the payload setting and configure it to apply a total payload mass (to be applied after the grip action has finished executing), but clear the associated 'Set Total Payload' payload mass field.
GripActionConfigBuilder	setGripperSelection(Optional<SelectableGripper> gripperSelection) Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e.
GripActionConfigBuilder	setGripperSelection(SelectableGripper gripper) Select the specified individual gripper/zone for a Gripper node that uses a multi-gripper device, i.e.
GripActionConfigBuilder	setPayloadMass(Mass mass) Enable the payload setting for a Gripper node and configure it to apply the specified total payload mass after the grip action has finished executing.
GripActionConfigBuilder	setPayloadSelection(Payload payload) Enable the payload setting for a Gripper node and configure it to apply the specified payload (from the installation) after the grip action has finished executing.
GripActionConfigBuilder	setPayloadSettingDisabled() Disable the payload setting for a Gripper node.

Method Detail

setEmptyGripperSelection

GripActionConfigBuilder setEmptyGripperSelection()

Set an empty gripper selection for a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). No individual gripper/zone will be selected in the Gripper node (any existing selection will be cleared).

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Returns:

This builder

Since:

1.11.0

setGripperSelection

GripActionConfigBuilder setGripperSelection(Optional<SelectableGripper> gripperSelection)

Apply an existing gripper selection to a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface). The specified gripper/zone selection must be taken from an existing configuration by using the return value of GripActionConfig.getGripperSelection() or ReleaseActionConfig.getGripperSelection().

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Parameters:

gripperSelection - The existing gripper selection to apply, not null

Returns:

This builder

Since:

1.11.0

setGripperSelection

GripActionConfigBuilder setGripperSelection(SelectableGripper gripper)

Select the specified individual gripper/zone for a Gripper node that uses a multi-gripper device, i.e. a gripper device supporting the multi-gripper capability (see the MultiGripperSupport interface).

Note: Not all grippers support the multi-gripper capability. Use the method GripperDevice.getCapabilitySupport(Class) with the class of the MultiGripperSupport interface as argument to verify that the gripper device used by a Gripper node (accessible through GripperNode.getGripperDevice()) supports multiple grippers. Attempting to apply a configuration to a Gripper node (using GripperNode.setConfig(GripperNodeConfig)) will throw the UnsupportedConfig exception, if the node uses a single gripper device.

Parameters:

gripper - The individual gripper/zone to be selected, not null

Returns:

This builder

Since:

1.11.0

setPayloadMass

GripActionConfigBuilder setPayloadMass(Mass mass)

Enable the payload setting for a Gripper node and configure it to apply the specified total payload mass after the grip action has finished executing.

Use the SimpleValueFactory.createMass(double, Mass.Unit) method to create the payload mass. The valid range for the payload mass is available through the RobotLimits interface which can be accessed with RobotModel.getRobotLimits() (an instance of the RobotModel interface can be retrieved through SystemAPI.getRobotModel()).

Note: The specified mass must be the total mass of the payload attached to the tool output flange of the robot.

Consider instead using the setPayloadSelection(Payload) method which allows for selecting a pre-defined payload from the installation in PolyScope.

Parameters:

mass - The total mass of the payload (attached to the tool ouput flange of the robot) to be applied after the execution of this grip action, not null.

Returns:

This builder

Throws:

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

Since:

1.13.0

setEmptyPayloadMass

GripActionConfigBuilder setEmptyPayloadMass()

Enable the payload setting and configure it to apply a total payload mass (to be applied after the grip action has finished executing), but clear the associated 'Set Total Payload' payload mass field. This will make the Gripper node undefined.

Returns:

This builder

Since:

1.13.0

setPayloadSelection

GripActionConfigBuilder setPayloadSelection(Payload payload)

Enable the payload setting for a Gripper node and configure it to apply the specified payload (from the installation) after the grip action has finished executing.

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 applied after the execution of this grip action, not null

Returns:

This builder

Since:

1.13.0

setPayloadSettingDisabled

GripActionConfigBuilder setPayloadSettingDisabled()

Disable the payload setting for a Gripper node. The Gripper node will be defined and no change in payload will be applied after the grip action has finished executing.

Returns:

This builder

Since:

1.13.0

build

GripActionConfig build()

Build the gripper configuration for a Gripper program node.

Returns:

The Gripper node configuration for a grip action