The PowerTrainType represents instances of power trains of a motion device and is formally defined in Table 24. A power train typically consists of one motor and gear to provide the required torque. Often there is a one-to-one relation between axes and power trains, but it is also possible to have axis coupling and thus one power train can move multiple axes and one axis can be moved by multiple power trains. One power train can have multiple drives, motors and gears when these components move logically the same axes, for example in a master/slave setup. Examples are described in Annex B.1.

Figure 15 – Overview PowerTrainType

Table 24 – PowerTrainType Definition

Attribute	Value
BrowseName	PowerTrainType
IsAbstract	False
References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
HasComponent	Object	<MotorIdentifier>		MotorType	MandatoryPlaceholder
HasComponent	Object	<GearIdentifier>		GearType	OptionalPlaceholder
Moves	Object	<AxisIdentifier>		AxisType	OptionalPlaceholder
HasSlave	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:ComponentName	LocalizedText	PropertyType	Optional

The ComponentName property provides a user writeable name provided by the vendor, integrator or user of the device. The ComponentName may be a default name given by the vendor.

The ComponentName of the PowerTrainType provides a manufacturer-specific power train identifier within the control system.

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

<MotorIdentifier> indicates that a power train contains one or more motors represented by MotorType instances.

<GearIdentifier> indicates that a power train may contain one or more gears represented by GearType instances.

Moves is a reference to provide the relationship of power trains to axes. For complex kinematics this does not need to be a one to one relationship, because a power train might influence the motion of more than one axis. This reference connects all axis to a power train that that move when only this power train moves and all other powertains stand still.

The InverseName is IsMovedBy.

HasSlave is a reference to provide the master-slave relationship of power trains which provide torque for a common axis. The InverseName is IsSlaveOf.