The SystemOperationType is an AddIn Type to extend instances of ControllerType described in 7.18. The SystemOperationType provides a state machine to monitor and/or command the controller behaviour at the system level and is formally defined in Table 42.
Robot systems may have conditions that must be acknowledged before some operational commands can be executed.
The system has two possibilities to enable the Client to acknowledge conditions.
- By exposing at least one instance of AcknowledgeableConditionType inside the Server’s AddressSpace located within the Conditions folder as defined in the ConformanceUnit RobAckCondInstance.
- By handling such conditions using the OPC UA Eventing mechanisms as defined in the ConformanceUnit RobAckCondEventing.
Figure 21 – SystemOperationType Overview
The SystemOperationType is formally defined in Table 42.
Table 42 – SystemOperationType Definition
|
Attribute |
Value |
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|
BrowseName |
SystemOperationType |
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|
IsAbstract |
False |
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|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
Subtype of the BaseObjectType defined in OPC 10000-5. |
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|
0:HasComponent |
Object |
SystemOperationStateMachine |
|
SystemOperationStateMachineType |
M |
|
0:HasComponent |
Object |
Conditions |
|
0:FolderType |
O |
|
0:HasProperty |
Variable |
0:DefaultInstanceBrowseName |
0:QualifiedName |
0:PropertyType |
|
|
ConformanceUnits |
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|
Rob System Monitor |
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|
Rob System Operation |
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|
Rob RobAckCondInstance |
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The Object SystemOperationStateMachine provides a state machine to monitor or command the controller at the system level. The SystemOperationStateMachineType is inherited from the OperationStateMachineType.
The folder Conditions (part of the ConformanceUnit RobAckCondInstance) provides instances of AcknowledgeableConditionType for the acknowledgement of single conditions or instances of MultiAcknowledgeableConditionType (see 8.1) for the acknowledgement of multiple conditions.
The Property 0:DefaultInstanceBrowseName of the SystemOperationType has an additional Attribute defined in
Table 44.
Table 43 – SystemOperationType additional subcomponents
|
BrowsePath |
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
Conditions |
Organizes |
Object |
<AcknowledgeableCondition> |
|
AcknowledgeableConditionType |
MP |
Table 44 – SystemOperationType Attribute values for child Nodes
|
BrowsePath |
Value Attribute |
Description Attribute |
|
0:DefaultInstanceBrowseName |
SystemOperation |
|