Robotics - Vertical Integration - 7.1.2 ObjectType definition

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