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

Interface AnalogInputModeConfigFactory

public interface AnalogInputModeConfigFactory

Factory for creating configurations of the analog input mode for the analog inputs in the connector in the robot tool.

Method Summary

Modifier and Type	Method and Description
AnalogInputDomainConfig	createAnalogInputDomainConfig(AnalogInputDomainConfig.AnalogDomain input0, AnalogInputDomainConfig.AnalogDomain input1) Create a configuration to set the electrical domain of the analog inputs in the connector in the robot tool
CommunicationInterfaceConfig	createCommunicationInterfaceConfig(CommunicationInterfaceConfig.BaudRate baudRate, CommunicationInterfaceConfig.Parity parity, CommunicationInterfaceConfig.StopBits stopBits, double rxIdleChars, double txIdleChars) Create a Tool Communication Interface (TCI) configuration to enable communication with an external device via the analog inputs in the connector in the robot hereby avoiding external wiring.

Method Detail

createAnalogInputDomainConfig

AnalogInputDomainConfig createAnalogInputDomainConfig(AnalogInputDomainConfig.AnalogDomain input0,
                                                      AnalogInputDomainConfig.AnalogDomain input1)

Create a configuration to set the electrical domain of the analog inputs in the connector in the robot tool

Parameters:

input0 - The electrical domain type for analog input 0 in the robot tool (labeled 'analog_in[2]' in PolyScope).

input1 - The electrical domain type for analog input 1 in the robot tool (labeled 'analog_in[3]' in PolyScope).

Returns:

the analog domain configuration for the analog tool inputs.

createCommunicationInterfaceConfig

@RequiredCapability(value=COMMUNICATION_INTERFACE_MODE)
CommunicationInterfaceConfig createCommunicationInterfaceConfig(CommunicationInterfaceConfig.BaudRate baudRate,
                                                                                                                        CommunicationInterfaceConfig.Parity parity,
                                                                                                                        CommunicationInterfaceConfig.StopBits stopBits,
                                                                                                                        double rxIdleChars,
                                                                                                                        double txIdleChars)

Create a Tool Communication Interface (TCI) configuration to enable communication with an external device via the analog inputs in the connector in the robot hereby avoiding external wiring. When this configuration is applied, all analog tool inputs will be unavailable.

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

Parameters:

baudRate - The used baud rate. See CommunicationInterfaceConfig.BaudRate for the available options.

parity - The used parity. See CommunicationInterfaceConfig.Parity for the available options.

stopBits - The number of stop bits. See CommunicationInterfaceConfig.StopBits for the available options.

rxIdleChars - Amount of chars the RX unit in the robot tool should wait before marking a message as over / sending it to the PC. Valid values: min=1.0 max=40.0.

txIdleChars - Amount of chars the TX unit in the robot tool should wait before starting a new transmission since last activity on bus. Valid values: min=1.0 max=40.0.

Returns:

the Tool Communication Interface configuration for analog tool inputs.

Throws:

IllegalArgumentException - if an invalid value was specified for the rxIdleChars or txIdleChars parameter.

CapabilityNotSupportedException - if the Tool Communication Interface capability is not available on the system. Use CapabilityManager.hasCapability(Capability) with ToolIOCapability.COMMUNICATION_INTERFACE_MODE to verify the availability.