OPC 10000-210: Industrial Automation - Relative Spatial Location

Released 1.00.1

2023-01-23

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1 Scope 2 Normative references 3 Terms, abbreviated terms and conventions 3.1 Overview 3.2 OPC UA for Relative Spatial Location terms 3.2.1 Term 3.3 Abbreviated terms 3.4 Conventions used in this document 3.4.1 Conventions for Node descriptions 3.4.1.1 Node definitions 3.4.1.2 Additional References 3.4.1.3 Additional sub-components 3.4.1.4 Additional Attribute values 3.4.2 NodeIds and BrowseNames 3.4.2.1 NodeIds 3.4.2.2 BrowseNames 3.4.3 Common Attributes 3.4.3.1 General 3.4.3.2 Objects 3.4.3.3 Variables 3.4.3.4 VariableTypes 3.4.3.5 Methods 4 Use cases 4.1 Relationship to reference value 4.2 Describing relative locations in space 4.3 Standardized description of relative locations in space 4.4 Extension of existing objects with relative spatial information 4.5 Finding all objects which have relative spatial information 4.6 Finding all sets of objects with their respective frame of references 4.7 Distinction of dynamic or static values represented by localization information 4.8 Usage of RSL concept in aggregating and multi-server scenarios 5 Relative Spatial Location Information Model overview 5.1 General information about Relative Spatial Location 5.2 Introduction with an example of a chess table 5.3 Overview of subtypes of BaseDataVariableType 6 OPC UA ObjectTypes 6.1 SpatialObjectType ObjectType 6.1.1 Overview 6.2 SpatialObjectsListType ObjectType 6.2.1 Overview 7 OPC UA VariableTypes 7.1 RelativeValueType 7.2 SpatialLocationType 7.3 CartesianFrameAngleOrientationType 7.4 RpyOrientationType 8 Instances 8.1 RelativeSpatialLocations Definition 9 Profiles and Conformance Units 9.1 Conformance Units 9.2 Profiles 9.2.1 Profile list 9.2.2 Server Facets 9.2.2.1 Overview 9.2.2.2 RSL CartesianFrameAngleOrientation Profile 9.2.2.3 RSL CartesianFrameAngleOrientation Identifier Profile 9.2.2.4 Table 26 - RSL CartesianFrameAngleOrientation Identifier Profile 9.2.3 Client Facets 9.2.3.1 Overview 9.2.3.2 RSL Base Client Profile 10 Namespaces 10.1 Namespace Metadata 10.2 Handling of OPC UA Namespaces Annex A (normative) Relative Spatial Location Namespace and mappings A.1 Namespace and identifiers for Relative Spatial Location Information Model Annex B (normative)Maths Definition for CartesianCoordinateAngleOrientationType B.1 Three-dimensional cartesian coordinates apply to right-hand rule B.2 Definition of rotations defined by orientation angles Annex C (informative) Relative Spatial Location examples C.1 Example ChessTable C.1.1 Each object in space is self-contained - example: Table C.1.2 Attach an object to another object – example: Table with chess board with fields C.1.3 Attaching further objects – example: chess pieces on a field of the chess table C.1.4 Attaching further objects with and without attach-points – example: Chess board on table with chess pieces. C.2 Example of two motion devices with tools C.3 Example use of the Identifier Property in a multi-server scenario C.4 Example use of the Identifier Property in aggregated scenarios C.5 Example usage of the Property Identifier in applications running on different servers Annex D (informative) Client Server Sequences D.1 Example Client Server sequence flow using the RSL concept Annex E (informative) Subtyping of SpatialLocationType E.1 Example of subtyping SpatialLocationType using the RSL concept