Package com.ur.urcap.api.contribution.driver.gripper.capability

Interface Summary

Interface	Description
GripDetectedParameters	This interface provides parameters relevant for generating script code for the Grip Detected feedback capability (registered using GripperFeedbackCapabilities.registerGripDetectedCapability(ScriptCodeGenerator)).
GripForceCapability	This interface represents a registered force capability for a gripper which supports gripping using a user configurable force.
GripperCapabilities	Register the physical capabilities of the gripper using this interface.
GripperFeedbackCapabilities	Register the feedback capabilities of the gripper using this interface.
GripVacuumCapability	This interface represents a registered vacuum capability for a gripper which supports gripping using a user configurable vacuum level.
MultiGripperCapability	This interface represents a registered multi-gripper capability for a gripper which supports multiple individual grippers/zones.
ReleaseDetectedParameters	This interface provides parameters relevant for generating script code for the Release Detected feedback capability (registered using GripperFeedbackCapabilities.registerReleaseDetectedCapability(ScriptCodeGenerator)).
SpeedCapability	This interface represents a registered speed capability for a gripper which supports operating using a user configurable speed.
WidthCapability	This interface represents a registered width/position capability for a gripper which supports moving to a user configurable position (open/close to a configurable width).

Exception Summary

Exception	Description
CapabilityAlreadyRegistered	This exception is thrown when an attempt is made to register a capability that has already been registered.
InvalidCapabilityRange	This exception is thrown if an invalid value range or default value is specified when an attempt is made to register a gripper capability.