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

Interface DigitalOutputModeConfigFactory

@RequiredCapability(value=DIGITAL_OUTPUT_MODE)
public interface DigitalOutputModeConfigFactory

Factory for creating configurations of the digital output mode for the digital outputs in the connector in the robot tool.

Use CapabilityManager.hasCapability(Capability) with ToolIOCapability.DIGITAL_OUTPUT_MODE to verify the availability of this functionality on the system.

Method Summary

Modifier and Type	Method and Description
DigitalOutputModeConfig	createDualPinPowerModeConfig() Create a Dual Pin Power mode configuration where both digital outputs in the connector in the robot tool are used as a source of power for the tool.
StandardDigitalOutputModeConfig	createStandardDigitalOutputModeConfig(StandardDigitalOutputModeConfig.OutputMode output0, StandardDigitalOutputModeConfig.OutputMode output1) Create a configuration to set the digital output mode for each of the digital outputs in the connector in the robot tool.

Method Detail

createDualPinPowerModeConfig

DigitalOutputModeConfig createDualPinPowerModeConfig()

Create a Dual Pin Power mode configuration where both digital outputs in the connector in the robot tool are used as a source of power for the tool. This configuration disables the two digital tool outputs.

Returns:

a Dual Pin Power mode configuration for the digital tool outputs

createStandardDigitalOutputModeConfig

StandardDigitalOutputModeConfig createStandardDigitalOutputModeConfig(StandardDigitalOutputModeConfig.OutputMode output0,
                                                                      StandardDigitalOutputModeConfig.OutputMode output1)

Create a configuration to set the digital output mode for each of the digital outputs in the connector in the robot tool.

Parameters:

output0 - the output mode for digital tool output 0

output1 - the output mode for digital tool output 1

Returns:

a digital output mode configuration for the digital tool outputs