TaskControlType represents instances of task controls of a controller and is formally defined in Table 100.
The task control describes an execution engine that loads and runs task programs. One task runs one task program at the time. The system should instantiate the maximum allowed number of task controls.
Figure 28 – Overview TaskControlType
Table 100 – TaskControlType Definition
|
Attribute |
Value |
||||
|
BrowseName |
TaskControlType |
||||
|
IsAbstract |
False |
||||
|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Modelling Rule |
|
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI) |
|||||
|
0:HasProperty |
Variable |
2:ComponentName |
0:LocalizedText |
0:PropertyType |
M |
|
0:HasComponent |
Object |
2:ParameterSet |
|
0:BaseObjectType |
M |
|
Controls |
Object |
<MotionDeviceIdentifier> |
|
MotionDeviceType |
OP |
|
0:HasAddIn |
Object |
TaskControlOperation |
|
TaskControlOperationType |
O |
|
0:HasComponent |
Object |
TaskModules |
|
0:FolderType |
O |
|
Conformance Units |
|||||
|
Rob Task Control CM Extended |
|||||
|
Rob Task Control Monitor |
|||||
|
Rob Task Control Operation |
|||||
|
Rob Task Control Modules |
|||||
|
Rob MotionDeviceSystem Base |
|||||
The components of the TaskControlType have additional subcomponents which are defined in Table 101.
Table 101 – TaskControlType Additional Subcomponents
|
Source Path |
Reference |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
2:ParameterSet |
0:HasComponent |
Variable |
TaskProgramName |
0:String |
0:BaseDataVariableType |
M |
|
2:ParameterSet |
0:HasComponent |
Variable |
TaskProgramLoaded |
0:Boolean |
0:BaseDataVariableType |
M |
|
2:ParameterSet |
0:HasComponent |
Variable |
ExecutionMode |
ExecutionModeEnumeration |
0:BaseDataVariableType |
O |
|
TaskModules |
0:Organizes |
Object |
<TaskModule> |
|
TaskModuleType |
OP |
The ComponentName property provides a user writeable name provided by the vendor, integrator, or user of the device. The ComponentName of the TaskControlType provides a customer given identifier for the task control or a default name given by the vendor. This property is derived from ComponentType defined in OPC 10000-100.
Object TaskModules is a folder of TaskModuleType (see 7.22) instances that provides more information about the loaded task modules.
Description of ParameterSet of TaskControlType:
- Variable TaskProgramName: The TaskProgramName variable provides a customer given identifier for the task program.
- Variable TaskProgramLoaded: The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise.
- Variable ExecutionMode: The ExecutionMode variable tells how the task control executes the task program (see 10.3).
Controls is a reference to provide the relationship between a task control and a motion device. The InverseName is IsControlledBy.