com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.builder

Interface MoveJConfigBuilder

public interface MoveJConfigBuilder

This interface can be used to build a single MoveJ configuration that can be applied to a Move node. Each configuration to be built should ideally use a new MoveJConfigBuilder instance.

For any configuration parameter where a value is not specified (using the corresponding set method), a default value will be used when the new configuration is built whereas the original value will be used when an existing configuration was copied using the copyFrom(MoveJMoveNodeConfig) method.

To build a configuration with non-default values for the TCP selection and joint speed parameter, use the following code snippet:

 
 MoveJMoveNodeConfig newConfig = configBuilder.setTCPSelection(tcpSelection)
                                              .setJointSpeed(jointSpeed, ErrorHandler.AUTO_CORRECT)
                                              .build();
 
 

To change the value of the joint acceleration in the current configuration, use the following code snippet to build a new updated configuration:

 
  configBuilder.copyFrom(currentConfig);
  MoveJMoveNodeConfig updatedConfig = configBuilder.setJointAcceleration(newJointAcceleration)
                                                   .build();
 
 

Method Summary

Modifier and Type	Method and Description
MoveJMoveNodeConfig	build() Build the MoveJ configuration for the Move node.
MoveJConfigBuilder	copyFrom(MoveJMoveNodeConfig source) Copy configuration parameter values from one configuration (source) to another (this) builder
MoveJConfigBuilder	setJointAcceleration(AngularAcceleration jointAcceleration, ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler) Set joint acceleration parameter for the MoveJ configuration.
MoveJConfigBuilder	setJointSpeed(AngularSpeed jointSpeed, ErrorHandler<AngularSpeed> jointSpeedErrorHandler) Set joint speed parameter for the MoveJ configuration.
MoveJConfigBuilder	setTCPSelection(TCPSelection tcpSelection) Set the TCP selection for the MoveJ configuration.

Method Detail

copyFrom

MoveJConfigBuilder copyFrom(MoveJMoveNodeConfig source)

Copy configuration parameter values from one configuration (source) to another (this) builder

Parameters:

source - The original configuration to copy parameter values from.

Returns:

This builder.

setJointSpeed

MoveJConfigBuilder setJointSpeed(AngularSpeed jointSpeed,
                                 ErrorHandler<AngularSpeed> jointSpeedErrorHandler)

Set joint speed parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters:

jointSpeed - The shared joint speed to be achieved, not null.

jointSpeedErrorHandler - Error handler for handling validation. If using ErrorHandler.AUTO_CORRECT, this will clamp the value to the nearest valid joint speed value.

Returns:

This builder.

setJointAcceleration

MoveJConfigBuilder setJointAcceleration(AngularAcceleration jointAcceleration,
                                        ErrorHandler<AngularAcceleration> jointAccelerationErrorHandler)

Set joint acceleration parameter for the MoveJ configuration.

The parameter applies to the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters:

jointAcceleration - The shared joint acceleration to be used, not null.

jointAccelerationErrorHandler - Error handler for handling validation. If using ErrorHandler.AUTO_CORRECT, this will clamp the value to the nearest valid joint acceleration value.

Returns:

This builder.

setTCPSelection

MoveJConfigBuilder setTCPSelection(TCPSelection tcpSelection)

Set the TCP selection for the MoveJ configuration.

The TCP will be set as the active TCP before the movement of the robot arm, from the previous position through the waypoints under the Move node, is performed.

See TCPSelection which can be created using the TCPSelectionFactory interface.

Parameters:

tcpSelection - The TCP setting to be applied.

Returns:

This builder.

build

MoveJMoveNodeConfig build()

Build the MoveJ configuration for the Move node.

A default configuration can be built by calling this method without invoking any of the set methods in this interface.

Returns:

The new MoveJ configuration.