http://opcfoundation.org/UA/Robotics/ defines the namespace metadata for this specification. The Object is used to provide version information for the namespace and an indication about static Nodes. Static Nodes are identical for all Attributes in all Servers, including the Value Attribute. See Part 5 for more details.
The information is provided as Object of type NamespaceMetadataType. This Object is a component of the Namespaces Object that is part of the Server Object. The NamespaceMetadataType ObjectType and its Properties are defined in Part 5.
The version information is also provided as part of the ModelTableEntry in the UANodeSet XML file. The UANodeSet XML schema is defined in Part 6.
Table 57 – NamespaceMetadata Object for this Specification
|
Attribute |
Value |
|||
|
BrowseName |
||||
|
References |
BrowseName |
DataType |
Value |
|
|
HasProperty |
NamespaceUri |
String |
||
|
HasProperty |
NamespaceVersion |
String |
1.00 |
|
|
HasProperty |
NamespacePublicationDate |
DateTime |
2019-02-04 |
|
|
HasProperty |
IsNamespaceSubset |
Boolean |
Vendor-specific |
|
|
HasProperty |
StaticNodeIdTypes |
IdType[] |
Numeric |
|
|
HasProperty |
StaticNumericNodeIdRange |
NumericRange[] |
|
|
|
HasProperty |
StaticStringNodeIdPattern |
String |
|
|
This chapter defines the corresponding Profiles and Conformance Units for the OPC UA Information Model for Robotics. Profiles are named groupings of Conformance Units. Facets are Profiles that will be combined with other Profiles to define the complete functionality of an OPC UA Server or Client.
The following tables specify the Profiles available for Robotic-Systems that implement the OPC UA for Robotics Information Model companion specification.
This Profile supports the information for Robotics. This Profile is intended to be used of OPC UA servers with limited resources. It is built upon the "Embedded 2017 UA Server Profile" Profile. The content of the Profile is defined in Table 72.
Table 58 – Robotics Base Profile
|
Conformance Unit |
Description |
Optional/ Mandatory |
|
Robotics Part 1 ObjectTypes Mandatory |
Supports all mandatory parts of the ObjectTypes that are defined in VDMA OPC Robotics Part 1. |
M |
|
Profiles |
|
|
|
Embedded 2017 UA Server Profile |
||
|
BaseDevice_Server_Facet (defined in OPC 10000-100)
|
||
|
"Data Access Server Facet" Profile |
||
|
"ComplexType 2017 Server Facet" Profile |
||
This specification does not define any Client Facets.
Namespaces are used by OPC UA to create unique identifiers across different naming authorities. The Attributes NodeId and BrowseName are identifiers. A Node in the UA AddressSpace is unambiguously identified using a NodeId. Unlike NodeIds, the BrowseName cannot be used to unambiguously identify a Node. Different Nodes may have the same BrowseName. They are used to build a browse path between two Nodes or to define a standard Property.
Servers may often choose to use the same namespace for the NodeId and the BrowseName. However, if they want to provide a standard Property, its BrowseName shall have the namespace of the standards body although the namespace of the NodeId reflects something else, for example the EngineeringUnits Property. All NodeIds of Nodes not defined in this specification shall not use the standard namespaces.
Table 59 provides a list of mandatory and optional namespaces used in an Robotics OPC UA Server.
Table 59 – Namespaces used in a Robotics Server
|
NamespaceURI |
Description |
Use |
|
Namespace for NodeIds and BrowseNames defined in the OPC UA specification. This namespace shall have namespace index 0. |
Mandatory |
|
|
Local Server URI |
Namespace for nodes defined in the local server. This may include types and instances used in an Robotics Device represented by the server. This namespace shall have namespace index 1. |
Mandatory |
|
Namespace for NodeIds and BrowseNames defined in OPC 10000-100. The namespace index is server specific. |
Mandatory |
|
|
Namespace for NodeIds and BrowseNames defined in this specification. The namespace index is server specific. |
Mandatory |
|
|
Vendor specific types and instances |
A server may provide vendor-specific types like types derived from ObjectTypes defined in this specification or vendor-specific instances of those types in a vendor-specific namespace. |
Optional |
Table 60 provides a list of namespaces and their index used for BrowseNames in this specification. The default namespace of this specification is not listed since all BrowseNames without prefix use this default namespace.
Table 60 – Namespaces used in this specification
|
NamespaceURI |
Namespace Index |
Example |
|
0 |
0:EngineeringUnits |
|
|
2 |
2:Manufacturer |