The TaskControlType represents instances of task controls of a controller and is formally defined in Table 44.
The task control describes an execution engine that loads and runs task programs. One task runs one task program at the time. The system should instantiate the maximum allowed number of task controls.
Figure 22 – Overview TaskControlType
Table 44 – TaskControlType Definition
|
Attribute |
Value |
||||
|
BrowseName |
TaskControlType |
||||
|
IsAbstract |
False |
||||
|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Modelling Rule |
|
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI) |
|||||
|
HasProperty |
Variable |
2:ComponentName |
LocalizedText |
PropertyType |
Mandatory |
|
HasComponent |
Object |
2:ParameterSet |
|
BaseObjectType |
Mandatory |
|
Controls |
Object |
<MotionDeviceIdentifier> |
|
MotionDeviceType |
OptionalPlaceholder |
The ComponentName property provides a user writeable name provided by the vendor, integrator or user of the device.
The ComponentName of the TaskControlType provides a customer given identifier for the task control or a default name given by the vendor. This property is derived from ComponentType defined in OPC UA DI.
Table 45 – ParameterSet of TaskControlType
|
Attribute |
Value |
||||
|
BrowseName |
ParameterSet |
||||
|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Modelling Rule |
|
HasComponent |
Variable |
TaskProgramName |
String |
BaseDataVariableType |
Mandatory |
|
HasComponent |
Variable |
TaskProgramLoaded |
Boolean |
BaseDataVariableType |
Mandatory |
|
HasComponent |
Variable |
ExecutionMode |
Enumeration |
ExecutionModeEnumeration |
Optional |
Description of ParameterSet of TaskControlType:
- Variable TaskProgramName: The TaskProgramName variable provides a customer given identifier for the task program.
- Variable TaskProgramLoaded: The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise.
- Variable ExecutionMode: The ExecutionMode variable tells how the task control executes the task program.
Table 46 – ExecutionModeEnumeration
|
ExecutionModeEnumeration |
||
|
CYCLE |
0 |
Single execution of a task program according to ISO 8373 |
|
CONTINUOUS |
1 |
Task program is executed continuously and starts again automatically |
|
STEP |
2 |
Task program is executed in steps |
Controls is a reference to provide the relationship between a task control and a motion device. The InverseName is IsControlledBy.