crcl.base

Class MoveScrewType

java.lang.Object

crcl.base.DataThingType

crcl.base.CRCLCommandType

crcl.base.MiddleCommandType

crcl.base.MoveScrewType

public class MoveScrewType
extends MiddleCommandType

MoveScrewType is derived from MiddleCommandType. An instance of MoveScrewType has the following elements: Name (inherited, optional) CommandID (inherited) StartPosition (optional) AxisPoint (optional) AxialDistanceFree (optional) AxialDistanceScrew Turn. This command is designed for attaching screws, nuts, and bolts. It might also be used for drilling. The command is executed as follows. First, if the StartPosition exists, the controlled point and axis are moved to the StartPosition along any convenient trajectory. Second, if the AxialDistanceFree exists and is not zero, the controlled point is moved along the axis by the given AxialDistanceFree. Third and finally, a screwing motion is made. If there is no AxisPoint (or if an AxisPoint is given that is at the controlled point), the gripper rotates around its axis through the angle given by Turn at a constant rate while simultaneously translating along the axis at a constant rate (the currently set speed) through the AxialDistanceScrew so that the rotation and translation finish at the same time. If there is an AxisPoint and it differs from the location of the controlled point, the controlled point simultaneously (1) rotates as above, (2) revolves around an axis through the AxisPoint parallel to the controlled axis, and (3) translates as above. That makes a helical motion of the controlled point. The motion along the helix is done at the currently set speed. A positive value of AxialDistanceFree or AxialDistanceScrew means to move away from the end effector. A negative value means to move toward the end effector. A positive value of Turn means to rotate (and possibly revolve) in a counterclockwise sense as viewed from the positive Z axis of the gripper (the region extending away from the gripper). The robot must reach the EndPosition within the tolerance established (1) by the tolerance given for the pose in the EndPosition, if there is a tolerance in the EndPosition, or if not (2) by the most recently executed instance of SetEndPoseToleranceType. The speed and acceleration to use are set either in the EndPosition or by previously executed CRCL commands. In an instance file, the type of StartPosition may be either PoseType or PoseAndSetType, which is derived from PoseType.

Java class for MoveScrewType complex type.

The following schema fragment specifies the expected content contained within this class.

 <complexType name="MoveScrewType">
   <complexContent>
     <extension base="{}MiddleCommandType">
       <sequence>
         <element name="StartPosition" type="{}PoseType" minOccurs="0"/>
         <element name="AxisPoint" type="{}PointType" minOccurs="0"/>
         <element name="AxialDistanceFree" type="{http://www.w3.org/2001/XMLSchema}double" minOccurs="0"/>
         <element name="AxialDistanceScrew" type="{http://www.w3.org/2001/XMLSchema}double"/>
         <element name="Turn" type="{http://www.w3.org/2001/XMLSchema}double"/>
       </sequence>
     </extension>
   </complexContent>
 </complexType>
 

Field Summary

Fields

Modifier and Type	Field and Description
protected Double	axialDistanceFree
protected double	axialDistanceScrew
protected PointType	axisPoint
protected PoseType	startPosition
protected double	turn

Fields inherited from class crcl.base.CRCLCommandType

commandID

Fields inherited from class crcl.base.DataThingType

name

Constructor Summary

Constructors

Constructor and Description
MoveScrewType()

Method Summary

Modifier and Type	Method and Description
Double	getAxialDistanceFree() Gets the value of the axialDistanceFree property.
double	getAxialDistanceScrew() Gets the value of the axialDistanceScrew property.
PointType	getAxisPoint() Gets the value of the axisPoint property.
PoseType	getStartPosition() Gets the value of the startPosition property.
double	getTurn() Gets the value of the turn property.
void	setAxialDistanceFree(Double value) Sets the value of the axialDistanceFree property.
void	setAxialDistanceScrew(double value) Sets the value of the axialDistanceScrew property.
void	setAxisPoint(PointType value) Sets the value of the axisPoint property.
void	setStartPosition(PoseType value) Sets the value of the startPosition property.
void	setTurn(double value) Sets the value of the turn property.

Methods inherited from class crcl.base.CRCLCommandType

getCommandID, setCommandID

Methods inherited from class crcl.base.DataThingType

getName, setName

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

startPosition

protected PoseType startPosition

axisPoint

protected PointType axisPoint

axialDistanceFree

protected Double axialDistanceFree

axialDistanceScrew

protected double axialDistanceScrew

turn

protected double turn

Constructor Detail

MoveScrewType

public MoveScrewType()

Method Detail

getStartPosition

public PoseType getStartPosition()

Gets the value of the startPosition property.

Returns:

possible object is PoseType

setStartPosition

public void setStartPosition(PoseType value)

Sets the value of the startPosition property.

Parameters:

value - allowed object is PoseType

getAxisPoint

public PointType getAxisPoint()

Gets the value of the axisPoint property.

Returns:

possible object is PointType

setAxisPoint

public void setAxisPoint(PointType value)

Sets the value of the axisPoint property.

Parameters:

value - allowed object is PointType

getAxialDistanceFree

public Double getAxialDistanceFree()

Gets the value of the axialDistanceFree property.

Returns:

possible object is Double

setAxialDistanceFree

public void setAxialDistanceFree(Double value)

Sets the value of the axialDistanceFree property.

Parameters:

value - allowed object is Double

getAxialDistanceScrew

public double getAxialDistanceScrew()

Gets the value of the axialDistanceScrew property.

setAxialDistanceScrew

public void setAxialDistanceScrew(double value)

Sets the value of the axialDistanceScrew property.

getTurn

public double getTurn()

Gets the value of the turn property.

setTurn

public void setTurn(double value)

Sets the value of the turn property.