Industrial Automation - Relative Spatial Location

Table 23 defines the corresponding ConformanceUnits for the OPC UA Information Model for RSL.

Table 23 – Conformance Units for Relative Spatial Location

Category	Title	Description
Server	RSL Base	Supports the base functionality defined in RSL InformationModel with at least one instance of SpatialObjectsListType (6.2) organized by the RelativeSpatialLocations object. The SpatialObjectsListType instance shall support at least one instance of SpatialObjectType (6.1). The Variable PositionFrame of the SpatialObjectType instance shall be of a discrete subtype of SpatialLocationType (7.2)
Server	RSL SpatialObject Identifier	Supports the variable Identifier of SpatialObjectType (6.1).
Server	RSL SpatialObject AttachPoints	Supports the folder AttachPoints of SpatialObjectType (6.1).
Server	RSL SpatialObject InternalFrames	Supports the folder InternalFrames of SpatialObjectType (6.1).
Server	RSL SpatialObject AlternativeFrames	Supports the folder AlternativeFrames of SpatialObjectType (6.1).
Server	CartesianFrameAngleOrientationType	Instances of SpatialObjectType use the CartesianFrameAngleOrientationType (7.3) for WorldFrame and PositionFrame
Client	RSL Client Base	Consumes the Object RelativeSpatialLocations (8.1) and Objects that conform to the types SpatialObjectType (6.1), SpatialObjectsListType (6.2) (described with sequences in Annex D.1) and interpret provided location information (e.g. following the reference chains to find the world frame)
Client	RSL Client ModelChange	Receives the ModelChangeEvent or subscribes to the NodeVersion property and updates the model related information in its use-cases (e.g. rebrowse of the address space)