public interface GripperCapabilities
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).
|
WidthCapability registerWidthCapability(double minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth, Length.Unit unit)
minWidth
- The minimum width supported by the grippermaxWidth
- The maximum width supported by the gripperdefaultGripWidth
- default value for the width for a grip action. This value is used for, e.g. performing a
"default" grip action using the toolbardefaultReleaseWidth
- default value for the width for a release action. This value is used for, e.g. performing
a "default" release action using the toolbarunit
- the unit for all specified values, not null
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 registeredCalledOutsideGripperConfigurationPhase
- if this method is called at the wrong time, i.e. outside the scope
of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider)
method.GripForceCapability registerGrippingForceCapability(double minForce, double maxForce, double defaultGripForce, Force.Unit unit)
minForce
- minimum force supported by the grippermaxForce
- maximum force supported by the gripperdefaultGripForce
- default value for the force for a grip action. This value is used for, e.g. performing a
"default" grip action using the toolbarunit
- the unit for all specified values, null
InvalidCapabilityRange
- if minForce
> maxForce
or defaultGripForce
is outside the
range defined by minForce
and maxForce
.CapabilityAlreadyRegistered
- if this capability has already been registeredCalledOutsideGripperConfigurationPhase
- if this method is called at the wrong time, i.e. outside the scope
of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider)
method.SpeedCapability registerSpeedCapability(double minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed, Speed.Unit unit)
minSpeed
- minimum speed supported by the grippermaxSpeed
- maximum speed supported by the gripperdefaultGripSpeed
- default value for the speed for a grip action. This value is used for, e.g. performing a
"default" grip action using the toolbardefaultReleaseSpeed
- default value for the speed for a grip action. This value is used for, e.g. performing a
"default" release action using the toolbarunit
- the unit for all specified values, not null
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 registeredCalledOutsideGripperConfigurationPhase
- if this method is called at the wrong time, i.e. outside the scope
of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider)
method.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.minVacuum
- minimum vacuum level supported by the grippermaxVacuum
- maximum vacuum level supported by the gripperdefaultGripVacuum
- default value for the vacuum level for a grip action. This value is used for, e.g.
performing a "default" grip action using the toolbarunit
- the unit for all specified values, not null
InvalidCapabilityRange
- if minVacuum
> maxVacuum
or defaultGripVacuum
is outside the
range defined by minVacuum
and maxVacuum
.CapabilityAlreadyRegistered
- if this capability has already been registeredCalledOutsideGripperConfigurationPhase
- if this method is called at the wrong time, i.e. outside the scope
of the GripperContribution.configureGripper(GripperConfiguration, GripperAPIProvider)
method.Copyright © 2020. All rights reserved.