GroupConfig.java

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// -----------------------------------------------------------------------
// MLPI - <GroupConfig.java>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
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// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
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// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
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// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------
package com.boschrexroth.mlpi;

public class GroupConfig extends MlpiComponent{
  
  /*
   * Fields
   */
  private final Robot.GroupRef _groupRef;
  private long _motionHandle;


  /*
   * Methods
   */
   
  GroupConfig(MlpiHandle connection, Robot.GroupRef groupRef) {
    super(connection);
    _groupRef = groupRef;
  }
  
  public native void AddAllAxisToGroup();
  
  public native void RemAllAxisFromGroup();
  
  public native void SetCartesianTransform(Robot.RobotCoordinateSystem coordSys, double posX, double posY, double posZ, double rotA, double rotB, double rotC);
  
  public native void SetCylindricTransform(Robot.RobotCoordinateSystem coordSys, double posX, double posY, double posZ, double rotA, double rotB, double rotC);
  
  public native void SetBeltConfiguration(Motion.AxisRef beltAxis, double posX, double posY, double posZ, double rotA, double rotB, double rotC, double beginLength, double totalLength);
  
  public native void SetRotaryTableConfiguration(Motion.AxisRef beltAxis, double posX, double posY, double posZ, double rotA, double rotB, double rotC, double beginLength, double totalLength);
  
  public native void SetBeltErrorReaction(Motion.AxisRef beltAxis, Robot.RobotSyncErrorReactionMode errorType, double time, double deceleration, double jerk);
  
  public native void SetName(String name);
  
  public native void SetAxisConfiguration(Robot.RobotAxisConfiguration[] axisConfig);
  
  public native void SetKinematicType(long type);
  
  public native void Reset();
  
  public native void SetSafeZone(long zoneNumber, Robot.RobotSafeZoneType zoneType, double maxPosX, double maxPosY, double maxPosZ, double minPosX, double minPosY, double minPosZ);
  
  public native void SetMoveId(long moveId);
  
  public native void ChangeTool(double posX, double posY, double posZ, double rotA, double rotB, double rotC);
}