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