com.ur.urcap.api.domain.resource.tooliointerface.control

Interface ToolIOInterfaceControllable

All Superinterfaces:

ToolIOInterface

public interface ToolIOInterfaceControllable
extends ToolIOInterface

This is an interface for controlling/configuring the settings of the Tool I/O Interface

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.resource.tooliointerface.ToolIOInterface

ToolIOInterface.OutputVoltage

Method Summary

Modifier and Type	Method and Description
AnalogInputModeConfigFactory	getAnalogInputModeConfigFactory()
DigitalOutputModeConfigFactory	getDigitalOutputModeConfigFactory()
boolean	hasControl() This method can be used to verify, if this URCap controls the Tool I/O Interface resource (after the control has been granted the URCap).
void	setAnalogInputModeConfig(AnalogInputModeConfig config) Configure the analog input mode for the analog inputs in the connector in the robot tool.
void	setDigitalOutputModeConfig(DigitalOutputModeConfig config) Configure the digital output mode for the digital outputs in the connector in the robot tool.
void	setOutputVoltage(ToolIOInterface.OutputVoltage outputVoltage) Sets the tool output voltage level for the power supply that delivers power to the connector in the robot tool.

Methods inherited from interface com.ur.urcap.api.domain.resource.tooliointerface.ToolIOInterface

getAnalogInputModeConfig, getDigitalOutputModeConfig, getOutputVoltage

Method Detail

hasControl

boolean hasControl()

This method can be used to verify, if this URCap controls the Tool I/O Interface resource (after the control has been granted the URCap).

The URCap will not control the resource, if the control is reassigned to a different URCap or manual control for the end user is selected. A callback will be generated when the control is revoked, see ToolIOInterfaceController.onControlToBeRevoked(ToolIOInterfaceControlEvent).

Returns:

true, if this instance is in control. false otherwise (the control has been revoked).

setOutputVoltage

void setOutputVoltage(ToolIOInterface.OutputVoltage outputVoltage)

Sets the tool output voltage level for the power supply that delivers power to the connector in the robot tool.

Parameters:

outputVoltage - the tool output voltage level.

Throws:

IllegalStateException - if the caller does not have control (see hasControl())

getDigitalOutputModeConfigFactory

@RequiredCapability(value=DIGITAL_OUTPUT_MODE)
DigitalOutputModeConfigFactory getDigitalOutputModeConfigFactory()

Returns:

a factory for creating configurations of the digital output mode for the digital outputs in the connector in the robot tool

Throws:

CapabilityNotSupportedException - if the digital output mode capability is not available on the system. Use CapabilityManager.hasCapability(Capability) with ToolIOCapability.DIGITAL_OUTPUT_MODE to verify the availability.

setDigitalOutputModeConfig

@RequiredCapability(value=DIGITAL_OUTPUT_MODE)
void setDigitalOutputModeConfig(DigitalOutputModeConfig config)

Configure the digital output mode for the digital outputs in the connector in the robot tool.

Use getDigitalOutputModeConfigFactory() to access a factory for creating configurations.

Parameters:

config - the configuration of the digital output mode for the digital tool outputs

Throws:

IllegalStateException - if the caller does not have control (see hasControl())

CapabilityNotSupportedException - if the digital output mode capability is not available on the system. Use CapabilityManager.hasCapability(Capability) with ToolIOCapability.DIGITAL_OUTPUT_MODE to verify the availability.

getAnalogInputModeConfigFactory

AnalogInputModeConfigFactory getAnalogInputModeConfigFactory()

Returns:

a factory for creating configurations of the analog input mode for the analog inputs in the connector in the robot tool.

setAnalogInputModeConfig

void setAnalogInputModeConfig(AnalogInputModeConfig config)

Configure the analog input mode for the analog inputs in the connector in the robot tool.

Use getAnalogInputModeConfigFactory() to access a factory for creating configurations.

Parameters:

config - the configuration of the analog input mode for the analog tool inputs

Throws:

IllegalStateException - if the caller does not have control (see hasControl())