The TaskControlTyperepresents 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.

image031.png

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 ComponentNameproperty provides a user writeable name provided by the vendor, integrator or user of the device.

The ComponentNameof the TaskControlTypeprovides 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 ParameterSetof TaskControlType:

Table 46– ExecutionModeEnumeration

ExecutionModeEnumeration

EnumString

Value

Description

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

Controlsis a reference to provide the relationship between a task control and a motion device. The InverseNameis IsControlledBy.