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

Interface MoveLConfigBuilder

public interface MoveLConfigBuilder

This interface can be used to build a single MoveL configuration that can be applied to a Move node. Each configuration to be built should ideally use a new MoveLConfigBuilder 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(MoveLMoveNodeConfig) method.

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

 
 MoveLMoveNodeConfig newConfig = configBuilder.setTCPSelection(tcpSelection)
                                              .setToolSpeed(toolSpeed, ErrorHandler.AUTO_CORRECT)
                                              .build();
 
 

To change the selected feature of the current configuration, use the following code snippet to build a new updated configuration:

 
  configBuilder.copyFrom(currentConfig);
  MoveLMoveNodeConfig updatedConfig = configBuilder.setFeature(feature)
                                                   .build();
 
 

Method Summary

Modifier and Type	Method and Description
MoveLMoveNodeConfig	build() Build the MoveL configuration for the Move node.
MoveLConfigBuilder	copyFrom(MoveLMoveNodeConfig source) Copy configuration parameter values from one configuration (source) to another (this) builder
MoveLConfigBuilder	setFeature(Feature feature) Set feature for the MoveL configuration.
MoveLConfigBuilder	setTCPSelection(TCPSelection tcpSelection) Set the TCP selection for the MoveL configuration.
MoveLConfigBuilder	setToolAcceleration(Acceleration toolAcceleration, ErrorHandler<Acceleration> toolAccelerationErrorHandler) Set tool acceleration parameter for the MoveL configuration.
MoveLConfigBuilder	setToolSpeed(Speed toolSpeed, ErrorHandler<Speed> toolSpeedErrorHandler) Set tool speed parameter for the MoveL configuration.

Method Detail

copyFrom

MoveLConfigBuilder copyFrom(MoveLMoveNodeConfig 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.

setToolSpeed

MoveLConfigBuilder setToolSpeed(Speed toolSpeed,
                                ErrorHandler<Speed> toolSpeedErrorHandler)

Set tool speed parameter for the MoveL configuration.

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

Parameters:

toolSpeed - The shared tool speed to be achieved, not null.

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

Returns:

This builder.

setToolAcceleration

MoveLConfigBuilder setToolAcceleration(Acceleration toolAcceleration,
                                       ErrorHandler<Acceleration> toolAccelerationErrorHandler)

Set tool acceleration parameter for the MoveL configuration.

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

Parameters:

toolAcceleration - The shared tool acceleration to be used, not null.

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

Returns:

This builder.

setFeature

MoveLConfigBuilder setFeature(Feature feature)

Set feature for the MoveL configuration.

The feature will be used for the movement of the robot arm, from the previous position through the waypoints under the Move node.

Parameters:

feature - The shared feature for this movement, not null.

Returns:

This builder.

setTCPSelection

MoveLConfigBuilder setTCPSelection(TCPSelection tcpSelection)

Set the TCP selection for the MoveL 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

MoveLMoveNodeConfig build()

Build the MoveL 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 MoveL configuration.