The TraversingTaskType represents a traversing task.
Table 28 – TraversingTaskType Definition
|
Attribute |
Value |
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|
BrowseName |
TraversingTaskType |
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|
IsAbstract |
False |
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|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
Subtype of the 0:BaseObjectType defined in [OPC 10000-5]. |
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|
0:HasComponent |
Variable |
TraversingTaskNumber |
0:Int32 |
0:BaseDataVariableType |
M, RO |
|
0:HasComponent |
Variable |
TargetPosition |
0:Float |
0:AnalogUnitType |
O, RO |
|
0:HasComponent |
Variable |
Velocity |
0:Float |
0:AnalogUnitType |
O, RO |
|
0:HasComponent |
Variable |
Acceleration |
0:Float |
0:AnalogUnitType |
O, RO |
|
0:HasComponent |
Variable |
Deceleration |
0:Float |
0:AnalogUnitType |
O, RO |
|
0:HasComponent |
Variable |
PositioningMode |
0:UInt16 |
0:MultiStateDiscreteType |
M, RO |
|
Conformance Units |
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|
PDRV Measurement |
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|
|
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The TraversingTaskNumber Variable contains the number of the traversing task currently executed. Interpretation of TraversingTaskNumber:
|
TraversingTaskNumber Value |
Traversing task executed |
|
-5 |
Jogging positive (S42) |
|
-4 |
Jogging negative (S42) |
|
-3 |
Homing procedure (S44) |
|
-2 |
MDI sub-mode active |
|
-1 |
No traversing task is executed: stand still (S41) |
|
>=0 |
Number of traversing task (0 – 1023) |
If no traversing task is executed (TraversingTaskNumber == -1), the Value of all other Variables shall be 0. If a traversing task is executed (TraversingTaskNumber >=0), the AxisState Variable contains one of the values belonging to the S45 sub state machine (see [PI 3172 PDP], Figure 35 also).
The TargetPosition Variable contains the target position for the traversing task generator.
The Velocity Variable contains the desired speed for the traversing task generator.
The Acceleration Variable contains the desired acceleration for the traversing task generator.
The PositioningMode Variable contains the information if the TargetPosition Variable has to be interpreted as absolute or relative position encoded as 0:MultiStateDiscreteType defined in [OPC 10000-8]. The StateMachineState Variable contains the state of the positioning mode substate machine also encoded as 0:MultiStateDiscreteType. The content of their EnumStrings lookup table Properties is defined in Table 29.
Table 29 – TraversingTaskType Attribute values for child Nodes
|
BrowsePath |
Value Attribute |
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|
INACTIVE RELATIVE_POSITIONING ABSOLUTE_SHORTEST_PATH_MODULO_DIRECTION _POSITIONING ABSOLUTE_POSITIVE_MODULO_DIRECTION _POSITIONING ABSOLUTE_NEGATIVE_ MODULO_DIRECTION _POSITIONING |
The following table contains descriptions of the semantic for all possible Values of the PositioningMode Variable.
|
Element Value |
Description |
|
INACTIVE |
No traversing task is active. |
|
RELATIVE_POSITIONING |
Relative Positioning. |
|
ABSOLUTE_SHORTEST_PATH_MODULO_DIRECTION _POSITIONING |
The absolute position shall be reached by the shortest path. |
|
ABSOLUTE_POSITIVE_MODULO_DIRECTION _POSITIONING |
The absolute position shall be reached by a motion in positive direction. |
|
ABSOLUTE_NEGATIVE_ MODULO_DIRECTION _POSITIONING |
The absolute position shall be reached by a motion in negative direction. |