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)