Robotics - Vertical Integration

OPC 40010-1: Robotics - Vertical Integration

Released 1.01

2025-09-03

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The general OPC Foundation specification license agreement also applies and can be found here.

This document is a copy of the original which can be found here.

This document defines nodes in the following nodesets:

http://opcfoundation.org/UA/Robotics/

1 Scope 2 Normative references 3 Terms, definitions, and conventions 3.1 Overview 3.2 Terms 3.3 Abbreviations 3.4 Conventions used in this document 3.4.1 Conventions for Node descriptions 3.4.2 NodeIds and BrowseNames 3.4.2.1 NodeIds 3.4.2.2 BrowseNames 3.4.3 Common Attributes 3.4.3.1 General 3.4.3.2 Objects 3.4.3.3 Variables 3.4.3.4 VariableTypes 3.4.3.5 Methods 3.4.3.6 Expanding conventions 3.4.3.7 Handling of not supported properties 4 General information to OPC Robotics and OPC UA 4.1 Introduction to OPC Robotics 4.2 Introduction to OPC Unified Architecture 4.2.1 What is OPC UA? 4.2.2 Basics of OPC UA 4.2.3 Information modelling in OPC UA 4.2.3.1 Concepts 4.2.3.2 Namespaces 4.2.3.3 Companion Specifications 5 Use Cases 6 OPC Robotics Information Model overview 7 OPC UA ObjectTypes 7.1 MotionDeviceSystemType ObjectType Definition 7.1.1 Overview 7.1.2 MotionDeviceSystemType definition 7.2 MotionDeviceType ObjectType Definition 7.2.1 Overview 7.2.2 MotionDeviceType definition 7.3 AxisType ObjectType Definition 7.3.1 Overview 7.3.2 AxisType definition 7.4 PowerTrainType ObjectType Definition 7.4.1 Overview 7.4.2 PowerTrainType definition 7.5 MotorType ObjectType Definition 7.5.1 Overview 7.5.2 MotorType definition 7.6 GearType Definition 7.6.1 Overview 7.6.2 GearType definition 7.7 SafetyStateType ObjectType Definition 7.7.1 Overview 7.7.2 SafetyStateType definition 7.8 EmergencyStopFunctionType ObjectType Definition 7.8.1 Overview 7.8.2 EmergencyStopFunctionType definition 7.9 ProtectiveStopFunctionType ObjectType Definition 7.9.1 Overview 7.9.2 ProtectiveStopFunctionType definition 7.10 OperationStateMachineType Definition 7.10.1 Start Method 7.10.2 Stop Method 7.11 SystemOperationType ObjectType 7.11.1 Overview 7.11.2 SystemOperationType definition 7.12 SystemOperationStateMachineType 7.12.1 Start Method 7.12.2 Stop Method 7.12.3 GetReady Method 7.12.4 StandDown Method 7.13 IdleSubstateMachineType 7.13.1 Overview 7.14 ExecutingSubstateMachineType 7.14.1 Overview 7.15 TaskControlOperationType ObjectType 7.15.1 Overview 7.16 TaskControlStateMachineType 7.16.1 Overview 7.16.2 LoadByNodeId Method 7.16.3 LoadByName Method 7.16.4 UnloadProgram Method 7.16.5 UnloadByNodeId Method 7.16.6 UnloadByName Method 7.16.7 Start Method 7.16.8 Stop Method 7.17 ReadySubstateMachineType 7.17.1 Overview 7.17.2 ResetToProgramStart Method 7.18 ControllerType ObjectType Definition 7.18.1 Overview 7.18.2 ControllerType definition 7.19 AuxiliaryComponentType ObjectType Definition 7.19.1 Overview 7.19.2 AuxiliaryComponentType definition 7.20 DriveType ObjectType Definition 7.20.1 Overview 7.20.2 DriveType definition 7.21 TaskControlType ObjectType Definition 7.21.1 Overview 7.21.2 TaskControlType definition 7.22 TaskModuleType ObjectType Definition 7.22.1 Overview 7.22.2 TaskModuleType definition 7.23 LoadType ObjectType Definition 7.23.1 Overview 7.23.2 LoadType definition 7.24 UserType ObjectType Definition 7.24.1 Overview 7.24.2 UserType definition 8 OPC UA ReferenceTypes 8.1 General 8.2 Controls (IsControlledBy) Reference Type 8.3 Moves (IsMovedBy) Reference Type 8.4 Requires (IsRequiredBy) Reference Type 8.5 IsDrivenBy (Drives) Reference Type 8.6 IsConnectedTo Reference Type 8.7 HasSafetyStates (SafetyStatesOf) Reference Type 8.8 HasSlave (IsSlaveOf) Reference Type 9 OPC UA EventTypes 9.1 MultiAcknowledgeableConditionType 10 OPC UA DataTypes 10.1 MotionDeviceCategoryEnumeration 10.2 AxisMotionProfileEnumeration 10.3 ExecutionModeEnumeration 10.4 OperationalModeEnumeration 11 Profiles and ConformanceUnits 11.1 Conformance Units 11.2 Profiles 11.2.1 Profile list 11.2.2 Server Facets 11.2.2.1 Overview 11.2.2.2 Robotics Base Server Facet 11.2.2.3 Robotics MDS Operation Server Facet 11.2.2.4 Robotics AM Extended Server Facet 11.2.2.5 Robotics CM Extended Server Facet 12 Namespaces 12.1 Namespace Metadata 12.2 Handling of OPC UA Namespaces 12.3 Namespace and identifiers for Robotics Information Model 12.4 Capability Identifier Annex A (informative)Examples 12.5 Overview 12.6 Example for motion device systems 12.7 Examples for motion devices and controllers in a motion device system 12.8 Examples for motion devices 12.9 Examples of combinations of motion devices in a motion device system 12.10 Axes and power trains 12.11 Virtual Axes 12.12 Examples for axes and power trains 12.13 Examples for the use of references regarding axes and power trains A.1.1 Example articulated six-axis industrial robot. A.1.2 Example articulated six-axis industrial robot with 3 leader-follower axes A.1.3 Example linear two-dimensional motion device 12.14 Representations of exemplary server implementations A.1.4 ObjectTypes and references used with DriveType instances A.1.5 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for drive-channels A.1.6 ObjectTypes and references used with instances DriveType for drives with drive-channels A.1.7 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for motor-integrated-drives A.1.8 Abstract example of a six-axis robot with master-slave axis and drive-slots A.1.9 Abstract example of a motion device system with three motion devices Annex B (informative) Usage with OPC 40001-1 UA CS for Machinery Part 1 – Basic Building Blocks 12.15 Overview 12.16 Identification and Finding Machines 12.17 Component Identification and Finding Components of a Machine