Robotics - Vertical Integration - 7.1 MotionDeviceSystemType ObjectType Definition

7.1 MotionDeviceSystemType ObjectType Definition

The MotionDeviceSystemType provides a representation of a motion device system as an entry point to the OPC UA device set. At least one instance of a MotionDeviceSystemType must be instantiated in the DeviceSet. This instance organises the information model of a complete robotics system using instances of the described ObjectTypes.

Figure 12 – Overview MotionDeviceSystemType

7.1.2 ObjectType definition

Table 11 – MotionDeviceSystemType Definition

Attribute	Value
BrowseName	MotionDeviceSystemType
IsAbstract	False
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Object	MotionDevices		FolderType	Mandatory
HasComponent	Object	Controllers		FolderType	Mandatory
HasComponent	Object	SafetyStates		FolderType	Mandatory
The following instance declarations are not defined by this type, but by the supertype ComponentType and repeated here for better readability
HasProperty	Variable	2:ComponentName	LocalizedText	PropertyType	Optional

Table 12 – TypeDefinition of MotionDevices of MotionDeviceSystemType

Attribute	Value
BrowseName	MotionDevices
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
HasComponent	Object	<MotionDeviceIdentifier>		MotionDeviceType	MandatoryPlaceholder

Table 13 – TypeDefinition of Controllers of MotionDeviceSystemType

Attribute	Value
BrowseName	Controllers
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
HasComponent	Object	<ControllerIdentifier>		ControllerType	MandatoryPlaceholder

Table 14 – TypeDefinition of SafetyStates of MotionDeviceSystemType

Attribute	Value
BrowseName	SafetyStates
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
HasComponent	Object	<SafetyStateIdentifier>		SafetyStateType	MandatoryPlaceholder

7.1.3 ObjectType description

A motion device system may consist of multiple motion devices, controllers and safety systems. References are used to describe the relations between those subsystems. Examples are described in Annex B.1.

7.1.3.1 Variable ComponentName

The ComponentName property provides a user writeable name provided by the vendor, integrator or user of the device. The ComponentName may be a default name given by the vendor. This property is defined by ComponentType defined in OPC UA DI.

7.1.3.2 Object MotionDevices

MotionDevices is a container for one or more instances of the MotionDeviceType.

7.1.3.3 Object Controllers

Controllers is a container for one or more instances of the ControllerType.

7.1.3.4 Object SafetyStates

SafetyStates is a container for one or more instances of the SafetyStatesType.