com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.optimove

Interface OptiMoveMotionParameters

All Superinterfaces:

WaypointMotionParameters

public interface OptiMoveMotionParameters
extends WaypointMotionParameters

This interface represents motion parameters for a Waypoint node using OptiMpove.

Since:

1.17.0

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointMotionParameters

WaypointMotionParameters.ParameterType

Method Summary

Modifier and Type	Method and Description
Percentage	getAccelerationPercentage()
Percentage	getSpeedPercentage()

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.WaypointMotionParameters

getType

Method Detail

getSpeedPercentage

Percentage getSpeedPercentage()

Returns:

The tool/joint speed to be achieved as a fraction of what the maximum speed the robot/joints can move with during the motion. Values are in the range of (0.0, 1.0] where 1.0 represents 100%.

getAccelerationPercentage

Percentage getAccelerationPercentage()

Returns:

The tool/joint acceleration to be achieved as a fraction of what the robot/joints is able to perform. Values are in the range of (0.0, 1.0] where 1.0 represents 100%.