The AxisType describes an axis of a motion device. It is formally defined in Table 21.

image021.png

Figure 14 – Overview AxisType

Table 21 – AxisType Definition

Attribute

Value

BrowseName

AxisType

IsAbstract

False

References

Node Class

BrowseName

DataType

TypeDefinition

Modelling Rule

Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)

HasProperty

Variable

MotionProfile

AxisMotionProfileEnumeration

PropertyType

Mandatory

HasComponent

Object

AdditionalLoad

 

LoadType

Optional

HasComponent

Object

2:ParameterSet

 

BaseObjectType

Mandatory

Requires

Object

<PowerTrainIdentifier>

PowerTrainType

OptionalPlaceholder

The following instance declarations are not defined by this type, but by the supertype ComponentType

and repeated here for better readability

HasProperty

Variable

2:AssetId

String

PropertyType

Optional

The AssetId property is a user writable alphanumeric character sequence uniquely identifying a component. The ID is provided by the vendor, integrator or user of the device. It contains typically an identifier in a branch, use case or user specific naming scheme.

This could be for example a reference to an electric scheme. For electric schemes typically EN 81346-2 is used.

The AssetID of the AxisType provides a manufacturer-specific axis identifier within the control system.

This property is defined by ComponentType defined in OPC UA DI.

The MotionProfile property provides the kind of axis motion as defined by the AxisMotionProfileEnumeration.

Table 22 – AxisMotionProfileEnumeration

AxisMotionProfileEnumeration

EnumString

Value

Description

OTHER

0

Any motion-profile which is not defined by the AxisMotionProfileEnumeration

ROTARY

1

Rotary motion is a rotation along a circular path with defined limits. Motion movement is not going always in the same direction. Control unit is mainly degree.

ROTARY_ENDLESS

2

Rotary motion is a rotation along a circular path with no limits. Motion movement is going endless in the same direction. Control unit is mainly degree.

LINEAR

3

Linear motion is a one dimensional motion along a straight line with defined limits. Motion movement is not going always in the same direction. Control unit is mainly mm.

LINEAR_ENDLESS

4

Linear motion is a one dimensional motion along a straight line with no limits. Motion movement is going endless in the same direction. Control unit is mainly mm.

AdditionalLoad provides data for the load that is mounted on this axis, e.g., a transformer for welding.

Table 23 – ParameterSet of AxisType

Attribute

Value

BrowseName

AxisType

References

Node Class

BrowseName

DataType

TypeDefinition

Modelling Rule

HasComponent

Variable

ActualPosition

Double

AnalogUnitType

Mandatory

HasComponent

Variable

ActualSpeed

Double

AnalogUnitType

Optional

HasComponent

Variable

ActualAcceleration

Double

AnalogUnitType

Optional

Description of ParameterSet of AxisType:

The Requires reference provides the relationship of axes to power trains. For complex kinematics this does not need to be a one to one relationship, because more than one power train might influence the motion of one axis. This reference connects all power trains to an axis that must be actively driven when only this axis should move and all other axes should stand still.

Virtual axes that are not actively driven by a power train do not have this reference. The InverseName is IsRequiredBy.