This chapter defines the corresponding Conformance Units for the OPC UA Information Model for Robotics.
Table 122 – Conformance Units for Robotics
|
Category |
Title |
Description |
|
Server |
Rob MotionDeviceSystem Base |
Supports the MotionDeviceSystemType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access, thereby supporting the base functionality defined in the Robotics Information Model. There is at least one instance of the MotionDeviceSystemType (or a subtype) with all its mandatory elements. The mandatory elements shall in-turn implement all of their mandatory elements recursively. |
|
Server |
Rob MotionDevice AM Extended |
Supports the MotionDeviceType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotionDeviceType (or a subtype) with all its mandatory elements. The Properties 2:AssetId, 2:ComponentName and 2:DeviceManual shall be provided for at least one instance of the MotionDeviceType or its subtypes. |
|
Server |
Rob MotionDevice CM Extended |
Supports the MotionDeviceType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotionDeviceType (or a subtype) with all its mandatory elements. All Variables within the 2:ParameterSet of at least one MotionDeviceType instance shall also be implemented. |
|
Server |
Rob MotionDevice Flangeload |
Supports the MotionDeviceType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotionDeviceType (or a subtype) with all its mandatory elements. The FlangeLoad Object shall be provided for all instances of the MotionDeviceType or its subtypes. |
|
Server |
Rob TC Relationship |
Supports the MotionDeviceType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotionDeviceType (or a subtype) with all its mandatory elements. The Variable TaskControlReference shall be provided for all instances of the MotionDeviceType or its subtypes. |
|
Server |
Rob Axis AM Extended |
Supports the AxisType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the AxisType (or a subtype) with all its mandatory elements. The Property 2:AssetId shall be provided for at least one instance of the AxisType or its subtypes. |
|
Server |
Rob Axis CM Extended |
Supports the AxisType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the AxisType (or a subtype) with all its mandatory elements. All Variables within the 2:ParameterSet of at least one instance of AxisType shall also be implemented. |
|
Server |
Rob Axis AdditionalLoad |
Supports the AxisType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the AxisType (or a subtype) with all its mandatory elements. The AdditionalLoad Object shall be provided for at least one instance of the AxisType or its subtypes. |
|
Server |
Rob PowerTrain AM Extended |
Supports the PowerTrainType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the PowerTrainType (or a subtype) with all its mandatory elements. The Property 2:ComponentName shall be provided for at least one instance of the PowerTrainType or its subtypes. |
|
Server |
Rob Motor AM Extended |
Supports the MotorType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotorType (or a subtype) with all its mandatory elements. The Property 2:AssetId shall be provided for at least one instance of the MotorType or its subtypes. |
|
Server |
Rob Motor CM Extended |
Supports the MotorType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the MotorType (or a subtype) with all its mandatory elements. All Variables within the 2:ParameterSet of at least one instance of MotorType shall also be implemented. |
|
Server |
Rob Gear AM Extended |
Supports the GearType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the GearType (or a subtype) with all its mandatory elements. The Property 2:AssetId shall be provided for at least one instance of the GearType or its subtypes. |
|
Server |
Rob Gear CM Extended |
Supports the GearType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the GearType (or a subtype) with all its mandatory elements. The Property Pitch shall be provided for at least one instance of the GearType or its subtypes. |
|
Server |
Rob Emergency Stop Function |
Supports the EmergencyStopFunctionType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the EmergencyStopFunctionType (or a subtype) with all its mandatory elements in the EmergencyStopFunctions folder (instance of FolderType) of an instance of SafetyStateType. |
|
Server |
Rob Protective Stop Function |
Supports the ProtectiveStopFunctionType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the ProtectiveStopFunctionType (or a subtype) with all its mandatory elements in the ProtectiveStopFunctions folder (instance of FolderType) of an instance of SafetyStateType. |
|
Server |
Rob Controller AM Extended |
Supports the ControllerType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the ControllerType (or a subtype) with all its mandatory elements. The Property 2:AssetId, 2:DeviceManual and 2:ComponentName shall be provided for at least one instance of the ControllerType or its subtypes. |
|
Server |
Rob Controller CM Extended |
Supports the ControllerType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the ControllerType (or a subtype) with all its mandatory elements. The 2:ParameterSet with all Variables within the 2:ParameterSet of at least one instance of ControllerType shall be implemented. |
|
Server |
Rob System Monitor |
Supports the SystemOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the SystemOperationType (or a subtype) connected to a ControllerType instance with a 0:HasAddIn Reference. |
|
Server |
Rob System Operation |
Supports the SystemOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the SystemOperationType (or a subtype) connected to a ControllerType instance with a 0:HasAddIn Reference. Each instance of the SystemOperationStateMachineType shall implement the methods defined within the SystemOperationStateMachineType. |
|
Server |
Rob RobAckCondInstance |
Supports the SystemOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the SystemOperationType (or a subtype) connected to a ControllerType instance with a 0:HasAddIn Reference. Each instance of the SystemOperationType shall implement the Conditions InstanceDeclaration defined within the SystemOperationType. The MultiAcknowledgeableConditionType is supported with all its mandatory instance declarations and optionally the optional InstanceDeclarations. At least once instance of MultiAcknowledgeableConditionType shall be provided within the Conditions InstanceDeclaration defined within the SystemOperationType. |
|
Server |
Rob System Events |
The OPC UA Server supports eventing and shall support the Events from the MotionDeviceSystemType instance. |
|
Server |
Rob System IdleSubstate |
Supports the SystemOperationStateMachineType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the SystemOperationStateMachineType (or a subtype). At least one instance of the SystemOperationStateMachineType shall implement the IdleSubstateMachine InstanceDeclaration defined within the SystemOperationStateMachineType. |
|
Server |
Rob System ExecutingSubstate |
Supports the SystemOperationStateMachineType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the SystemOperationStateMachineType (or a subtype). At least one instance of the SystemOperationStateMachineType shall implement the ExecutingSubstateMachine InstanceDeclaration defined within the SystemOperationStateMachineType. |
|
Server |
Rob Task Control CM Extended |
Supports the TaskControlType with all its mandatory instance declarations and optionally the optional InstanceDeclarations with read access. There is at least one instance of the TaskControlType (or a subtype) with all its mandatory elements. The Variable ExecutionMode within the 2:ParameterSet, shall be provided for at least one instance of instances of the TaskControlType or its subtypes. |
|
Server |
Rob Task Control Monitor |
Supports the TaskControlOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the TaskControlOperationType (or a subtype) connected to a TaskControlType instance with a 0:HasAddIn Reference. |
|
Server |
Rob Task Control Operation |
Supports the TaskControlOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the TaskControlOperationType (or a subtype) connected to a TaskControlType instance with a 0:HasAddIn Reference. Each instance of the TaskControlOperationStateMachineType shall implement the methods defined within the TaskControlOperationStateMachineType. |
|
Server |
Rob TC MD Relationship |
Supports the TaskControlOperationType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the TaskControlOperationType (or a subtype) connected to a TaskControlType instance with a 0:HasAddIn Reference. Each instance of the TaskControlOperationType shall implement the MotionDevicesUnterControl Property defined within the TaskControlOperationType. |
|
Server |
Rob Task Control ReadySubstate |
Supports the TaskControlOperationStateMachineType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the TaskControlOperationStateMachineType (or a subtype). At least one instance of the TaskControlOperationStateMachineType shall implement the ReadySubstateMachine InstanceDeclaration defined within the TaskControlOperationStateMachineType. |
|
Server |
Task Control Ready Reset |
Supports the TaskControlOperationStateMachineType with all its mandatory instance declarations and optionally the optional InstanceDeclarations. There is at least one instance of the TaskControlOperationStateMachineType (or a subtype). Each instance of the TaskControlOperationStateMachineType shall implement the ReadySubstateMachine InstanceDeclaration defined within the TaskControlOperationStateMachineType. At least one instance of the ReadySubstateMachine shall implement the ResetToProgramStart method defined within the ReadySubstateMachineType. |
|
Server |
Rob Program File Directory |
At least one instance of the ControllerType shall implement the Programs InstanceDeclaration defined within the ControllerType. |
|
Server |
Rob Task Control Modules |
At least one instance of the TaskControlType shall implement the TaskModules InstanceDeclaration defined within the TaskControlType. If a TaskControlType instance implements the TaskModules InstanceDeclaration (defined within the TaskControlType), then all TaskControlType instances (in the TaskControls folder) of that ControllerType instance, shall implement the TaskModules InstanceDeclaration. |
Table 123 lists all Profiles defined in this document and defines their URIs.
Table 123 – Profile URIs for OPC UA for Robotics
|
Profile |
URI |
|
Robotics Base Server Facet |
|
|
Robotics MDS Operation Server Facet |
http://opcfoundation.org/UA-Profile/Robotics/Server/RobOperation |
|
Robotics AM Extended Server Facet |
http://opcfoundation.org/UA-Profile/Robotics/Server/RobAMExtended |
|
Robotics CM Extended Server Facet |
http://opcfoundation.org/UA-Profile/Robotics/Server/RobCMExtended |
The following sections specify the Facets available for Servers that implement the OPC UA for Robotics companion specification. Each section defines and describes a Facet or Profile.
Table 124 defines a Facet that describes the Robotics Base Server Facet.
Table 124 – Robotics Base Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Address Space Model |
0:Address Space Base |
M |
|
Address Space Model |
0:Address Space Interfaces |
M |
|
Address Space Model |
0:Address Space AddIn Reference |
M |
|
Address Space Model |
0:Address Space AddIn DefaultInstanceBrowsename |
M |
|
View Services |
0:View Basic |
M |
|
View Services |
0:View TranslateBrowsePath |
M |
|
View Services |
0:View Minimum Continuation Point 01 |
M |
|
Attribute Services |
0:Attribute Read |
M |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
Table 125 defines a Facet that describes the Robotics MDS Operation Server Facet.
Table 125 – Robotics MDS Operation Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Profile |
Robotics Base Server Facet |
M |
|
Robotics |
Rob System Operation |
M |
|
Robotics |
Rob Task Control Operation |
O |
|
Robotics |
Rob RobAckCondInstance |
O |
|
Robotics |
Rob Task Control ReadySubstate |
O |
|
Robotics |
Task Control Ready Reset |
O |
|
Robotics |
Rob Program File Directory |
O |
|
Robotics |
Rob Task Control Modules |
O |
Table 126 defines a Facet that describes the Robotics AM Extended Server Facet.
Table 126 – Robotics AM Extended Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
|
Robotics |
Rob MotionDevice AM Extended |
M |
|
Robotics |
Rob MotionDevice Flangeload |
O |
|
Robotics |
Rob TC Relationship |
O |
|
Robotics |
Rob Axis AM Extended |
M |
|
Robotics |
Rob Axis AdditionalLoad |
O |
|
Robotics |
Rob PowerTrain AM Extended |
M |
|
Robotics |
Rob Gear AM Extended |
M |
|
Robotics |
Rob Emergency Stop Function |
O |
|
Robotics |
Rob Protective Stop Function |
O |
|
Robotics |
Rob Controller AM Extended |
M |
|
Robotics |
Rob TC MD Relationship |
O |
|
Robotics |
Rob Program File Directory |
O |
|
Robotics |
Rob Task Control Modules |
O |
Table 127 defines a Facet that describes the Robotics CM Extended Server Facet.
Table 127 – Robotics CM Extended Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
|
Robotics |
Rob MotionDevice CM Extended |
M |
|
Robotics |
Rob Axis CM Extended |
M |
|
Robotics |
Rob PowerTrain CM Extended |
M |
|
Robotics |
Rob Gear CM Extended |
M |
|
Robotics |
Rob Controller CM Extended |
M |
|
Robotics |
Rob System Monitor |
O |
|
Robotics |
Rob System Events |
O |
|
Robotics |
Rob System IdleSubstate |
O |
|
Robotics |
Rob System ExecutingSubstate |
O |
|
Robotics |
Rob Task Control CM Extended |
M |
|
Robotics |
Rob Task Control Monitor |
O |
|
Robotics |
Rob RobAckCondInstance |
O |