com.ur.urcap.api.domain.resource.tooliointerface

Interface ToolIOInterface

All Known Subinterfaces:

ToolIOInterfaceControllable

public interface ToolIOInterface

This interface allows for querying the settings of the Tool I/O Interface

Since:

1.7.0

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	ToolIOInterface.OutputVoltage Available options for the output voltage level for the power supply that delivers power to the connector in the robot tool

Method Summary

Modifier and Type	Method and Description
AnalogInputModeConfig	getAnalogInputModeConfig()
DigitalOutputModeConfig	getDigitalOutputModeConfig()
ToolIOInterface.OutputVoltage	getOutputVoltage()

Method Detail

getOutputVoltage

ToolIOInterface.OutputVoltage getOutputVoltage()

Returns:

The tool output voltage level for the power supply that delivers power to the connector in the robot tool.

getDigitalOutputModeConfig

@RequiredCapability(value=DIGITAL_OUTPUT_MODE)
DigitalOutputModeConfig getDigitalOutputModeConfig()

Returns:

Configuration of the output mode for the digital outputs in the connector in the robot tool

Throws:

CapabilityNotSupportedException - If the digital output mode capability is not available on the system. Use CapabilityManager.hasCapability(Capability) with ToolIOCapability.DIGITAL_OUTPUT_MODE as argument to verify the availability.

getAnalogInputModeConfig

AnalogInputModeConfig getAnalogInputModeConfig()

Returns:

Configuration of the input mode for the analog inputs in the connector in the robot tool