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

Interface GripperCapabilities

public interface GripperCapabilities

Register the physical capabilities of the gripper using this interface.

Method Summary

Modifier and Type	Method and Description
GripForceCapability	registerGrippingForceCapability(double minForce, double maxForce, double defaultGripForce, Force.Unit unit) Register a force capability for a gripper that supports gripping using a user configurable force.
GripVacuumCapability	registerGrippingVacuumCapability(double minVacuum, double maxVacuum, double defaultGripVacuum, Pressure.Unit unit) Register a vacuum capability for a gripper that supports gripping using a user configurable vacuum level.
SpeedCapability	registerSpeedCapability(double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed, Speed.Unit unit) Register a speed capability for a gripper that supports operating using a user configurable speed.
WidthCapability	registerWidthCapability(double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth, Length.Unit unit) Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width).

Method Detail

registerWidthCapability

WidthCapability registerWidthCapability(double minWidth,
                                        double maxWidth,
                                        double defaultGripWidth,
                                        double defaultReleaseWidth,
                                        Length.Unit unit)

Register a width/position capability for a gripper that supports moving to a user configurable position (open/close to a configurable width).

Parameters:

minWidth - The minimum width supported by the gripper

maxWidth - The maximum width supported by the gripper

defaultGripWidth - default value for the width for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

defaultReleaseWidth - default value for the width for a release action. This value is used for, e.g. performing a "default" release action using the toolbar

unit - the unit for all specified values, not null

Returns:

a width capability allowing for dynamic adjustments of the capability properties including the value range and default values

Throws:

InvalidCapabilityRange - if minWidth > maxWidth

InvalidCapabilityRange - if defaultGripWidth or defaultReleaseWidth is outside the range defined by minWidth and maxWidth.

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.

registerGrippingForceCapability

GripForceCapability registerGrippingForceCapability(double minForce,
                                                    double maxForce,
                                                    double defaultGripForce,
                                                    Force.Unit unit)

Register a force capability for a gripper that supports gripping using a user configurable force.

Parameters:

minForce - minimum force supported by the gripper

maxForce - maximum force supported by the gripper

defaultGripForce - default value for the force for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

unit - the unit for all specified values, null

Returns:

a force capability allowing for dynamic adjustments of the capability properties including the value range and default value

Throws:

InvalidCapabilityRange - if minForce > maxForce or defaultGripForce is outside the range defined by minForce and maxForce.

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.

registerSpeedCapability

SpeedCapability registerSpeedCapability(double minSpeed,
                                        double maxSpeed,
                                        double defaultGripSpeed,
                                        double defaultReleaseSpeed,
                                        Speed.Unit unit)

Register a speed capability for a gripper that supports operating using a user configurable speed.

Parameters:

minSpeed - minimum speed supported by the gripper

maxSpeed - maximum speed supported by the gripper

defaultGripSpeed - default value for the speed for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

defaultReleaseSpeed - default value for the speed for a grip action. This value is used for, e.g. performing a "default" release action using the toolbar

unit - the unit for all specified values, not null

Returns:

a speed capability allowing for dynamic adjustments of the capability properties including the value range and default values

Throws:

InvalidCapabilityRange - if minSpeed > maxSpeed

InvalidCapabilityRange - if defaultGripSpeed or defaultReleaseSpeed is outside the range defined by minSpeed and maxSpeed.

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.

registerGrippingVacuumCapability

GripVacuumCapability registerGrippingVacuumCapability(double minVacuum,
                                                      double maxVacuum,
                                                      double defaultGripVacuum,
                                                      Pressure.Unit unit)

Register a vacuum capability for a gripper that supports gripping using a user configurable vacuum level.

If the gripper works with absolute pressure, specify a positive range for the supported vacuum level. If the gripper works with relative pressure (vacuum), specify a negative range for the supported vacuum level.

Parameters:

minVacuum - minimum vacuum level supported by the gripper

maxVacuum - maximum vacuum level supported by the gripper

defaultGripVacuum - default value for the vacuum level for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

unit - the unit for all specified values, not null

Returns:

a vacuum capability allowing for dynamic adjustments of the capability properties including the value range and default value

Throws:

InvalidCapabilityRange - if minVacuum > maxVacuum or defaultGripVacuum is outside the range defined by minVacuum and maxVacuum.

CapabilityAlreadyRegistered - if this capability has already been registered

CalledOutsideGripperConfigurationPhase - if this method is called at the wrong time, i.e. outside the scope of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider) method.