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.

image019.png

Figure 12 – Overview MotionDeviceSystemType

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

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.

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.

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

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

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