org.openpnp.spi

Interface Actuator.InterlockMonitor

All Known Implementing Classes:

ActuatorInterlockMonitor

Enclosing interface:

Actuator

public static interface Actuator.InterlockMonitor

The InterlockMonitor controls an actuator to perform an interlock functions in the course of machine motion. It can actuate its actuator according to specific axis positions or movements. Or it can read its actuator to confirm the safety of axis movement or lock against it, avoiding potentially dangerous machine motion.

Method Summary

Modifier and Type	Method and Description
Wizard	getConfigurationWizard(AbstractActuator actuator)
boolean	interlockActuation(Actuator actuator, AxesLocation location0, AxesLocation location1, boolean beforeMove, double speed) This method is called before and after a move is executed by the motion planner.

Method Detail

interlockActuation

boolean interlockActuation(Actuator actuator,
                           AxesLocation location0,
                           AxesLocation location1,
                           boolean beforeMove,
                           double speed)
                    throws java.lang.Exception

This method is called before and after a move is executed by the motion planner. All interlock action must be performed here.

Parameters:

actuator -

location0 - Move start location

location1 - Move end location

beforeMove - true if called before the move, false if called after the move.

speed - Move effective speed

Returns:

true if the interlock conditions applied.

Throws:

java.lang.Exception

getConfigurationWizard

Wizard getConfigurationWizard(AbstractActuator actuator)