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

Interface OptiMoveMotionParameters

public interface OptiMoveMotionParameters

This interface represents motion parameters for a Move node using OptiMpove.

Since:

1.17.0

Method Summary

Modifier and Type	Method and Description
Percentage	getAccelerationPercentage()
Percentage	getSpeedPercentage()

Method Detail

getSpeedPercentage

Percentage getSpeedPercentage()

Returns:

The tool/joint speed to be achieved as a fraction of what the maximum speed the robot/joints can move with during the motion. Values are in the range of (0.0, 1.0] where 1.0 represents 100%.

getAccelerationPercentage

Percentage getAccelerationPercentage()

Returns:

The tool/joint acceleration to be achieved as a fraction of what the robot/joints is able to perform. Values are in the range of (0.0, 1.0] where 1.0 represents 100%.