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

Interface MovePConfigBuilder

public interface MovePConfigBuilder

This interface can be used to build a single MoveP configuration that can be applied to a Move node. Each configuration to be built should ideally use a new MovePConfigBuilder 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 copyFrom(MovePMoveNodeConfig).

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

 
 MovePMoveNodeConfig config = configBuilder.setTCPSelection(tcpSelection)
                                           .setToolSpeed(toolSpeed, ErrorHandler.AUTO_CORRECT)
                                           .build();
 
 

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

 
  configBuilder.copyFrom(currentConfig);
  MovePMoveNodeConfig newConfig = configBuilder.setBlend(blend, ErrorHandler.AUTO_CORRECT)
                                               .build();
 
 

Method Summary

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

Method Detail

copyFrom

MovePConfigBuilder copyFrom(MovePMoveNodeConfig 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

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

Set tool speed parameter for the MoveP 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

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

Set tool acceleration parameter for the MoveP 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.

setBlend

MovePConfigBuilder setBlend(Blend blend,
                            ErrorHandler<Blend> blendErrorHandler)

Set the blend parameter for the MoveP configuration.

The blend parameter will be used between all waypoints in the movement of the robot arm, from the previous position through the waypoint under the Move node.

Parameters:

blend - The shared blend used in the motion of this Move node, not null.

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

Returns:

This builder.

setFeature

MovePConfigBuilder setFeature(Feature feature)

Set feature for the MoveP 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

MovePConfigBuilder setTCPSelection(TCPSelection tcpSelection)

Set the TCP selection for the MoveP 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

MovePMoveNodeConfig build()

Build the MoveP 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 MoveP configuration.