The TaskControlOperationType is an AddIn to extend instances of TaskControlType described in 7.21. It provides the possibility to handle programs with designated task controls. The task controls may be started manually or in a system context by use of SystemOperation.
The TaskControlOperationType provides a state machine to monitor or control a task control and information about which motion devices are controlled by this task control and is formally defined in Table 63.
Figure 24 – TaskControlOperationType Overview
Table 63 – TaskControlOperationType Definition
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Attribute |
Value |
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BrowseName |
TaskControlOperationType |
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IsAbstract |
False |
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References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
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Subtype of the BaseObjectType defined in OPC 10000-5. |
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0:HasProperty |
Variable |
MotionDevicesUnderControl |
0:NodeId[] |
0:PropertyType |
O, RO |
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0:HasComponent |
Object |
TaskControlStateMachine |
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TaskControlStateMachineType |
M |
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0:HasProperty |
Variable |
0:DefaultInstanceBrowseName |
0:QualifiedName |
0:PropertyType |
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ConformanceUnits |
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Rob Task Control Monitor |
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Rob Task Control Operation |
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Rob TC MD Relationship |
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The optional Variable MotionDevicesUnderControl provides an array of NodeIds pointing to instances of MotionDeviceType described in 7.2, which are under control of this task control, in combination with the loaded program.
The Property 0:DefaultInstanceBrowseName of the TaskControlOperationType has an additional Attribute defined in Table 64.
Table 64 – TaskControlOperationType Attribute values for child Nodes
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BrowsePath |
Value Attribute |
Description Attribute |
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0:DefaultInstanceBrowseName |
TaskControlOperation |
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