com.ur.urcap.api.domain.robot

Interface RobotModel

@ProviderType
public interface RobotModel

With this interface you can determine the robot type/model and series as well as other properties of the underlying Universal Robots robot.

Since:

1.0.0

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	RobotModel.RobotSeries Deprecated. See getRobotSeries()
static class	RobotModel.RobotType The different types/models of Universal Robots robots

Method Summary

Modifier and Type	Method and Description
RobotLimits	getRobotLimits() Each Universal Robots robot type/model has limits for various physical/hardware and software properties/parameters.
RobotModel.RobotSeries	getRobotSeries() Deprecated. This method can only be used to determine, if a robot belongs to the CB3 robot series. The method will return the value RobotModel.RobotSeries.CB3, if the underlying robot is a CB3 robot, whereas the RobotModel.RobotSeries.E_SERIES value is returned for an e-Series robot. The RobotModel.RobotSeries.UNKNOWN value will be returned for all robots belonging to other robot series.
RobotModel.RobotType	getRobotType()
String	getSerialNumber()

Method Detail

getRobotType

RobotModel.RobotType getRobotType()

Returns:

The type/model of the underlying Universal Robots robot

getRobotSeries

@Deprecated
RobotModel.RobotSeries getRobotSeries()

Deprecated. This method can only be used to determine, if a robot belongs to the CB3 robot series. The method will return the value RobotModel.RobotSeries.CB3, if the underlying robot is a CB3 robot, whereas the RobotModel.RobotSeries.E_SERIES value is returned for an e-Series robot. The RobotModel.RobotSeries.UNKNOWN value will be returned for all robots belonging to other robot series.

Returns:

The robot series (generation) of the underlying Universal Robots robot.

Since:

1.6.0

getRobotLimits

RobotLimits getRobotLimits()

Each Universal Robots robot type/model has limits for various physical/hardware and software properties/parameters. This method can be used to obtain an interface which provides access to the valid range for each property/parameter supported by the underlying robot, 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.

Returns:

An interface providing access to the limits for various properties/parameters of the underlying Universal Robots robot.

Since:

1.13.0

getSerialNumber

String getSerialNumber()

Returns:

The serial number of the underlying Universal Robots robot