com.ur.urcap.api.domain.system.capability.tooliointerface

Enum ToolIOCapability

java.lang.Object

java.lang.Enum<ToolIOCapability>

com.ur.urcap.api.domain.system.capability.tooliointerface.ToolIOCapability

All Implemented Interfaces:

Capability, Serializable, Comparable<ToolIOCapability>

public enum ToolIOCapability
extends Enum<ToolIOCapability>
implements Capability

This enum contains capabilities of the Tool I/O Interface that may or may not be available on the underlying robot/system. Functionality related to the Tool I/O Interface is located in the com.ur.urcap.api.domain.resource.tooliointerface package.

Use a value of this enum as argument to CapabilityManager.hasCapability(Capability) to check if that specific capability is present on the system.

Enum Constant Summary

Enum Constants

Enum Constant and Description
COMMUNICATION_INTERFACE_MODE Capability to configure the analog inputs in the connector in the robot tool to be used as a Tool Communication Interface (TCI)
DIGITAL_OUTPUT_MODE Capability to configure output mode of the digital outputs in the connector in the robot tool

Method Summary

Modifier and Type	Method and Description
static ToolIOCapability	valueOf(String name) Returns the enum constant of this type with the specified name.
static ToolIOCapability[]	values() Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Detail

COMMUNICATION_INTERFACE_MODE

public static final ToolIOCapability COMMUNICATION_INTERFACE_MODE

Capability to configure the analog inputs in the connector in the robot tool to be used as a Tool Communication Interface (TCI)

Note: This functionality is not available on CB3 robots

DIGITAL_OUTPUT_MODE

public static final ToolIOCapability DIGITAL_OUTPUT_MODE

Capability to configure output mode of the digital outputs in the connector in the robot tool

Note: This functionality is not available on CB3 robots

Method Detail

values

public static ToolIOCapability[] values()

Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:

for (ToolIOCapability c : ToolIOCapability.values())
    System.out.println(c);

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static ToolIOCapability valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null