The EncoderSensorConfigType Object provides configuration Properties related to the encoder’s sensor properties and settings.
Table 32 – EncoderSensorConfigType Definition
|
Attribute |
Value |
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|
BrowseName |
EncoderSensorConfigType |
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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:HasProperty |
Variable |
SensorAbsoluteType |
EncoderSensorAbsoluteTypeEnumeration |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
ConfigType |
EncoderConfigTypeEnumeration |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
SensorResolutionIncPerRotation |
0:Integer |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
SensorResolutionNanometerPerIncrement |
0:Integer |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
ShiftFactorXIST1 |
0:Integer |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
ShiftFactorXIST2 |
0:Integer |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
AbsolutePosLinSupported |
0:Boolean |
0:PropertyType |
O, RO |
|
0:HasProperty |
Variable |
AbsolutePosDeterminableRevolutions |
0:Integer |
0:PropertyType |
O, RO |
|
0:HasComponent |
Method |
SetSensorConfig |
|
|
O |
|
Conformance Units |
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|
PNENC Config Readable |
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|
PNENC Config Writable |
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The SensorAbsoluteType Variable contains the sensor type for absolute Encoders (single-turn or multiturn) encoded as EncoderSensorAbsoluteTypeEnumeration.
The ConfigType Variable contains the configuration type (static or dynamic) of the Encoder encoded as EncoderConfigTypeEnumeration.
The SensorResolutionIncPerRotation Variable contains the number of sensor pulses generated per rotation (rotary Encoders only)
The SensorResolutionNanometerPerIncrement Variable contains the number of nanometers per increment (linear measurement system only).
The ShiftFactorXIST1 Variable contains the Encoder’s G1_XIST1 Standard Signal shift factor. Shall not be provided if not changeable. If the G1_XIST1 Variable is part of the Information Model, the shift factor is always available as Property of the G1_XIST1 Variable.
The ShiftFactorXIST2 Variable contains the Encoder’s G1_XIST2 Standard Signal shift factor. Shall not be provided if not changeable. If the G1_XIST2 Variable is part of the Information Model, the shift factor is always available as Property of the G1_XIST2 Variable.
The AbsolutePosLinSupported Variable contains True if absolute linear positioning is supported by the Encoder, otherwise False.
The AbsolutePosDeterminableRevolutions Variable specifies which absolute position value may be delivered by the sensor. The following table specifies the meaning of the possible Values of the Variable in dependence of the sensor type (See [PDP] Table 105 Subindex 5: “Determinable revolutions”).
|
Variable Value |
Rotary Sensors |
Linear Sensors |
|
0 |
The sensor has no absolute information or may only display values less than one absolute revolution. |
The sensor has no absolute information (for example standard incremental linear scale). |
|
1 |
The sensor may display exactly one absolute revolution (For example a resolver with 1 pole pair) |
The sensor delivers absolute position information. |
|
>1 |
Multi-turn sensor (For example, 4 096 is a commonly used value) |
- |
This Method sets the Value of Properties of the SensorConfig Object to the desired value. The security constraints defined in chapter 6.6 apply. Clients must also have locked the parent EncoderChannelType Object before invoking the Method.
Signature
SetSensorConfig (
[in] 0:KeyValuePair[] SensorConfigParameters,
[out] 0:KeyValuePair[] SensorConfigParametersResult
);
|
Argument |
Description |
|
SensorConfigParameters |
Array of 0:KeyValuePair structures containing the desired settings. The key field of each structure contains the BrowseName of one Property of the SensorConfig Object. The value field contains the desired value to set for this Property and must have the same DataType. |
|
SensorConfigParametersResult |
Array of 0:KeyValuePair structures. The array shall be empty if successful. The array shall contain one element for each failed setting and the Result Code shall be Uncertain (See Table 33). The key field of each structure contains the BrowseName of the Property of the SensorConfig Object for which the setting failed. The value field is encoded as EncoderConfigParameterResultEnumeration and contains one of the following values: INVALID:The value is rejected by the Server. NOT_SUPPORTED: The Property with the specified BrowseName does not exist. READ_ONLY:The value cannot be changed. |
The Method Result Codes (defined in Call Service) are defined in Table 33. The requested Property changes are applied if a Result Code with severity Good is returned. Otherwise, no Property is changed.
Table 33 – Possible Method Result Codes
|
Result Code |
Description |
|
Good |
The Method execution was successful. The SensorConfigParametersResult array is empty. |
|
Uncertain |
The Server is not able to apply the requested changes due to invalid parameters. The SensorConfigParametersResult array is not empty. |
|
Bad_ConfigurationError |
The set of parameters passed in the SensorConfigParameters array is not consistent. |
|
Bad_InvalidArgument |
The SensorConfigParameters argument array is empty or there are member type mismatches. |
|
Bad_Locked |
The parent EncoderChannelType Object is locked by a different Client’s Session. |
|
Bad_RequiresLock |
The parent EncoderChannelType Object is not locked. Clients must lock the parent EncoderChannelType Object before invoking a Method. |
|
Bad_UserAccessDenied |
The user has not the right to execute the Method. |
|
Bad_UnexpectedError |
The Server is not able to execute the function because an unexpected error occurred. The Device might be temporarily unavailable or unreachable due to network failure. |
If the desired settings do not deviate from the actual settings, the Method shall do nothing and return Good as result code.