com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode

Interface PayloadNodeConfigFactory

public interface PayloadNodeConfigFactory

This interface can be used to create configurations that can be applied to a Set Payload program node.

Since:

1.13.0

Method Summary

Modifier and Type	Method and Description
CustomParametersPayloadNodeConfig	createCustomParametersConfig(Mass mass, Position centerOfGravity) This method creates a configuration for a Set Payload node with custom payload parameters.
SelectionPayloadNodeConfig	createSelectionConfig(Payload payload) This method creates a configuration for a Set Payload node with a pre-selected payload (from the installation).

Method Detail

createSelectionConfig

SelectionPayloadNodeConfig createSelectionConfig(Payload payload)

This method creates a configuration for a Set Payload node with a pre-selected payload (from the installation).

Use the PayloadModel interface to get a list of available payloads from the installation to choose from.

Parameters:

payload - The payload (from the installation) to be selected in the Set Payload node, not null.

Returns:

A Set Payload node configuration with the specified payload selection

createCustomParametersConfig

CustomParametersPayloadNodeConfig createCustomParametersConfig(Mass mass,
                                                               Position centerOfGravity)

This method creates a configuration for a Set Payload node with custom payload parameters.

Use the SimpleValueFactory.createMass(double, Mass.Unit) method and the PositionFactory interface to create the required custom parameters.

Parameters:

mass - The total mass of the payload attached to the tool flange of the robot, not null. Create it using SimpleValueFactory.createMass(double, Mass.Unit).

centerOfGravity - The center of gravity (CoG), also referred to as center of mass, for the payload. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload. Cannot be null. Create it using the PositionFactory interface.

Returns:

A Set Payload node configuration with the specified custom payload parameters

Throws:

IllegalMassException - If the specified mass is not inside the valid range as defined by PolyScope.

IllegalCenterOfGravityException - If any of the values of the specified center of gravity are not inside the valid range as defined by PolyScope.