Robotics - Vertical Integration

OPC 40010-1: Robotics - Vertical Integration

Released 1.00

2019-05-13

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The general OPC Foundation specification license agreement also applies and can be found here.

This document is a copy of the original which can be found here.

This document defines nodes in the following nodesets:

http://opcfoundation.org/UA/Robotics/

1 Scope 2 Normative references 3 Terms, definitions and conventions 3.1 Overview 3.2 Terms 3.3 Abbreviations 3.4 Conventions used in this document 3.4.1 Conventions for Node descriptions 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 3.4.3.6 Expanding conventions 3.4.3.7 Handling of not supported properties 4 General information to OPC Robotics and OPC UA 4.1 Introduction to OPC Robotics 4.2 Introduction to OPC Unified Architecture 4.2.1 What is OPC UA? 4.2.2 Basics of OPC UA 4.2.3 Information modelling in OPC UA 4.2.3.1 Concepts 4.2.3.2 Namespaces 4.2.3.3 Companion Specifications 5 Use Cases 6 OPC Robotics Information Model overview 7 OPC UA ObjectTypes 7.1 MotionDeviceSystemType ObjectType Definition 7.1.1 Overview 7.1.2 ObjectType definition 7.1.3 ObjectType description 7.1.3.1 Variable ComponentName 7.1.3.2 Object MotionDevices 7.1.3.3 Object Controllers 7.1.3.4 Object SafetyStates 7.2 MotionDeviceType ObjectType Definition 7.2.1 Overview 7.2.2 ObjectType definition 7.2.3 ObjectType description 7.2.3.1 Variable SerialNumber 7.2.3.2 Variable Manufacturer 7.2.3.3 Variable Model 7.2.3.4 Variable ProductCode 7.2.3.5 Variable AssetId 7.2.3.6 Variable DeviceManual 7.2.3.7 Variable ComponentName 7.2.3.8 Variable MotionDeviceCategory 7.2.3.9 Object ParameterSet 7.2.3.10 Object Axes 7.2.3.11 Object PowerTrains 7.2.3.12 Object FlangeLoad 7.2.3.13 Object AdditionalComponents 7.3 AxisType ObjectType Definition 7.3.1 Overview 7.3.2 ObjectType definition 7.3.3 ObjectType description 7.3.3.1 Variable AssetId 7.3.3.2 Variable MotionProfile 7.3.3.3 Variable AdditionalLoad 7.3.3.4 Objekt ParameterSet 7.3.3.5 Reference Requires 7.4 PowerTrainType ObjectType Definition 7.4.1 Overview 7.4.2 ObjectType definition 7.4.3 ObjectType description 7.4.3.1 Variable ComponentName 7.4.3.2 Object <MotorIdenfifier> 7.4.3.3 Object <GearIdentifier> 7.4.3.4 Reference Moves 7.4.3.5 Reference HasSlave 7.5 MotorType ObjectType Definition 7.5.1 Overview 7.5.2 ObjectType definition 7.5.3 ObjectType description 7.5.3.1 Variable SerialNumber 7.5.3.2 Variable Manufacturer 7.5.3.3 Variable Model 7.5.3.4 Variable ProductCode 7.5.3.5 Variable AssetId 7.5.3.6 Reference IsConnectedTo 7.5.3.7 Reference IsDrivenBy 7.5.3.8 Object ParameterSet 7.6 GearType ObjectType Definition 7.6.1 Overview 7.6.2 ObjectType definition 7.6.3 ObjectType description 7.6.3.1 Variable SerialNumber 7.6.3.2 Variable Manufacturer 7.6.3.3 Variable Model 7.6.3.4 Variable ProductCode 7.6.3.5 Variable AssetId 7.6.3.6 Variable GearRatio 7.6.3.7 Variable Pitch 7.6.3.8 Reference IsConnectedTo 7.7 SafetyStateType ObjectType Definition 7.7.1 Overview 7.7.2 ObjectType definition 7.7.3 ObjectType description 7.7.3.1 Variable ComponentName 7.7.3.2 Object EmergencyStopFunctions 7.7.3.3 Object ProtectiveStopFunctions 7.7.3.4 Object ParameterSet 7.8 ControllerType ObjectType Definition 7.8.1 Overview 7.8.2 ObjectType definition 7.8.3 ObjectType description 7.8.3.1 Variable SerialNumber 7.8.3.2 Variable Manufacturer 7.8.3.3 Variable Model 7.8.3.4 Variable ProductCode 7.8.3.5 Variable AssetId 7.8.3.6 Variable DeviceManual 7.8.3.7 Variable ComponentName 7.8.3.8 Object CurrentUser 7.8.3.9 Object Components 7.8.3.10 Object Software 7.8.3.11 Object TaskControls 7.8.3.12 Object ParameterSet 7.8.3.13 Reference HasSafetyStates 7.8.3.14 Reference Controls 7.9 AuxiliaryComponentType ObjectType Definition 7.9.1 Overview 7.9.2 ObjectType definition 7.9.3 ObjectType description 7.9.3.1 Variable ProductCode 7.9.3.2 Variable AssetId 7.10 DriveType 7.10.1 Overview 7.10.2 ObjectType definition 7.10.3 ObjectType description 7.10.3.1 Variable ProductCode 7.10.3.2 Variable AssetId 7.11 TaskControlType ObjectType Definition 7.11.1 Overview 7.11.2 ObjectType definition 7.11.3 ObjectType description 7.11.3.1 Variable ComponentName 7.11.3.2 Object ParameterSet 7.11.3.3 Reference Controls 7.12 LoadType ObjectType Definition 7.12.1 Overview 7.12.2 ObjectType definition 7.12.3 ObjectType description 7.12.3.1 Variable Mass 7.12.3.2 Variable CenterOfMass 7.12.3.3 Variable Inertia 7.13 UserType ObjectType Definition 7.13.1 Overview 7.13.2 ObjectType definition 7.13.3 ObjectType description 7.13.3.1 Variable Level 7.13.3.2 Variable Name 8 OPC UA ReferenceTypes 8.1 General 8.2 Controls (IsControlledBy) Reference Type 8.3 Moves (IsMovedBy) Reference Type 8.4 Requires (IsRequiredBy) Reference Type 8.5 IsDrivenBy (Drives) Reference Type 8.6 IsConnectedTo Reference Type 8.7 HasSafetyStates (SafetyStatesOf) Reference Type 8.8 HasSlave (IsSlaveOf) Reference Type 9 Profiles and Namespaces 9.1 Namespace Metadata 9.2 Conformance Units and Profiles 9.3 Server Profiles 9.3.1 Robotics Base Profile 9.4 Client Facets 9.5 Handling of OPC UA Namespaces Annex A (normative)Robotics Namespace and mappings A.1 Namespace and identifiers for Robotics Information Model A.2 Profile URIs for Robotics Information Model Annex B (informative)Examples B.1 Examples of motion device systems, motion devices, axes and power trains B.1.1 Example for motion device systems B.1.2 Examples for motion devices and controllers in a motion device system B.1.3 Examples for motion devices B.1.4 Examples of combinations of motion devices in a motion device system B.1.5 Axes and power trains B.1.6 Virtual Axes B.1.7 Examples for axes and power trains B.1.8 Examples for the use of references regarding axes and power trains B.1.8.1 Example articulated six-axis industrial robot B.1.8.2 Example articulated six-axis industrial robot with 3 master-slave axes B.1.8.3 Example linear two-dimensional motion device B.1.9 Representations of exemplary server implementations B.1.9.1 ObjectTypes and references used with DriveType instances B.1.9.2 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for drive-channels B.1.9.3 ObjectTypes and references used with instances DriveType for drives with drive-channels B.1.9.4 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for motor-integrated-drives B.1.9.5 Abstract example of a six-axis robot with master-slave axis and drive-slots B.1.9.6 Abstract example of a motion device system with three motion devices