com.ur.urcap.api.domain.robot

Interface RobotLimits

public interface RobotLimits

This interface provides access to the limits of various physical/hardware and software properties/parameters of the underlying Universal Robots robot. For each property/parameter, it is possible to get the valid range, such as the supported range for the mass of the payload attached to the robot's tool output flange.

These ranges (limits) can, for instance, be used for validation of input provided by the end user.

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
Range<Length>	getCenterOfGravityXRange() Get the supported range for the x-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.
Range<Length>	getCenterOfGravityYRange() Get the supported range for the y-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.
Range<Length>	getCenterOfGravityZRange() Get the supported range for the z-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.
Range<Mass>	getPayloadMassExceededRange() Get the range for the payload mass (attached to the robot's tool output flange) accepted in PolyScope.
Range<Mass>	getPayloadMassRange() Get the range for the rated payload mass (attached to the robot's tool output flange) supported by the underlying robot, including the minimum and maximum supported values.

Method Detail

getPayloadMassRange

Range<Mass> getPayloadMassRange()

Get the range for the rated payload mass (attached to the robot's tool output flange) supported by the underlying robot, including the minimum and maximum supported values.

The minimum and maximum allowed values for the payload mass are accessible in the returned Range instance through Range.getLowerBound() and Range.getUpperBound().

Returns:

The range for the rated payload mass supported by the underlying robot

getPayloadMassExceededRange

Range<Mass> getPayloadMassExceededRange()

Get the range for the payload mass (attached to the robot's tool output flange) accepted in PolyScope. Note that part of this range includes values that exceed the rated maximum supported payload mass of the robot (see getPayloadMassRange()), but these values are accepted by PolyScope. Using values above the rated maximum payload mass could affect performance of the robot.

The range returned by this method will have the same minimum value (lower bound) as the range returned by getPayloadMassRange(), but the upper bound is the maximum allowed exceeded value for the payload mass. The minimum and maximum allowed values are accessible in the returned Range instance through Range.getLowerBound() and Range.getUpperBound().

Returns:

The exceeded range for the payload mass of the robot accepted by PolyScope

getCenterOfGravityXRange

Range<Length> getCenterOfGravityXRange()

Get the supported range for the x-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.

The minimum and maximum allowed values are accessible in the returned Range instance through Range.getLowerBound() and Range.getUpperBound().

Returns:

The valid range for the x-coordinate of the center of gravity (CoG) of a payload (i.e. the range of values accepted in PolyScope).

getCenterOfGravityYRange

Range<Length> getCenterOfGravityYRange()

Get the supported range for the y-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.

The minimum and maximum allowed values are accessible in the returned Range instance through Range.getLowerBound() and Range.getUpperBound().

Returns:

The valid range for the y-coordinate of the center of gravity (CoG) of a payload (i.e. the range of values accepted in PolyScope).

getCenterOfGravityZRange

Range<Length> getCenterOfGravityZRange()

Get the supported range for the z-coordinate for the center of gravity (CoG) of a payload as defined by PolyScope.

The minimum and maximum allowed values are accessible in the returned Range instance through Range.getLowerBound() and Range.getUpperBound().

Returns:

The valid range for the z-coordinate of the center of gravity (CoG) of a payload (i.e. the range of values accepted in PolyScope).