MotionDeviceCategoryEnumeration provides the kind of motion device based on ISO 8373. It is defined in Table 114.
Table 114 – MotionDeviceCategoryEnumeration Items
|
Name |
Value |
Description |
|
OTHER |
0 |
Any motion-device which is not defined by the MotionDeviceCategoryEnumeration |
|
ARTICULATED_ROBOT |
1 |
This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints. |
|
SCARA_ROBOT |
2 |
Robot has two parallel rotary joints to provide compliance in a selected plane |
|
CARTESIAN_ROBOT |
3 |
Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints deliver a linear motion along the axis. |
|
SPHERICAL_ROBOT |
4 |
The arm is connected to the base with a twisting joint and a combination of two rotary joints and one linear joint. The axes form a polar coordinate system and create a spherical-shaped work envelope. |
|
PARALLEL_ROBOT |
5 |
These spider-like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single end of arm tooling in a dome-shaped work area. |
|
CYLINDRICAL_ROBOT |
6 |
The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope. |
Its representation in the AddressSpace is defined in the table below.
Table 115 – MotionDeviceCategoryEnumeration definition
|
Attribute |
Value |
|||||
|
BrowseName |
MotionDeviceCategoryEnumeration |
|||||
|
IsAbstract |
False |
|||||
|
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
Subtype of the 0:Enumeration type defined in OPC 10000-5 |
||||||
|
0:HasProperty |
Variable |
0:EnumStrings |
0:LocalizedText [] |
0:PropertyType |
|
|
The AxisMotionProfileEnumeration provides the kind of axis motion as defined in Table 116.
Table 116 – AxisMotionProfileEnumeration
|
Name |
Value |
Description |
|
OTHER |
0 |
Any motion-profile which is not defined by the AxisMotionProfileEnumeration |
|
ROTARY |
1 |
Rotary motion is a rotation along a circular path with defined limits. Motion movement is not going always in the same direction. Control unit is degree. |
|
ROTARY_ENDLESS |
2 |
Rotary motion is a rotation along a circular path with no limits. Motion movement is going endless in the same direction. Control unit is degree. |
|
LINEAR |
3 |
Linear motion is a one-dimensional motion along a straight line with defined limits. Motion movement is not going always in the same direction. Control unit is mm. |
|
LINEAR_ENDLESS |
4 |
Linear motion is a one-dimensional motion along a straight line with no limits. Motion movement is going endless in the same direction. Control unit is mm. |
Its representation in the AddressSpace is defined in the table below.
Table 117 – AxisMotionProfileEnumeration definition
|
Attribute |
Value |
|||||
|
BrowseName |
AxisMotionProfileEnumeration |
|||||
|
IsAbstract |
False |
|||||
|
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
Subtype of the 0:Enumeration type defined in OPC 10000-5 |
||||||
|
0:HasProperty |
Variable |
0:EnumStrings |
0:LocalizedText [] |
0:PropertyType |
|
|
The ExecutionModeEnumeration is defined in Table 118.
Table 118 – ExecutionModeEnumeration
|
Name |
Value |
Description |
|
CYCLE |
0 |
Single execution of a task program according to ISO 8373 |
|
CONTINUOUS |
1 |
Task program is executed continuously and starts again automatically |
|
STEP |
2 |
Task program is executed in steps |
Its representation in the AddressSpace is defined in the table below.
Table 119 – ExecutionModeEnumeration definition
|
Attribute |
Value |
|||||
|
BrowseName |
ExecutionModeEnumeration |
|||||
|
IsAbstract |
False |
|||||
|
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
Subtype of the 0:Enumeration type defined in OPC 10000-5 |
||||||
|
0:HasProperty |
Variable |
0:EnumStrings |
0:LocalizedText [] |
0:PropertyType |
|
|
ISO 10218-1:2011 Ch.5.7 defines the different possible Operational Modes. This enumeration is defined in Table 120.
Table 120 – OperationalModeEnumeration
|
Name |
Value |
Description |
|
OTHER |
0 |
This value is used when there is no valid operational mode. Examples are: - During system-boot - The system is not calibrated (and hence cannot verify cartesian position values) - There is a failure in the safety system itself |
|
MANUAL_REDUCED_SPEED |
1 |
"Manual reduced speed" - name according to ISO 10218-1:2011 |
|
MANUAL_HIGH_SPEED |
2 |
"Manual high speed" - name according to ISO 10218-1:2011 |
|
AUTOMATIC |
3 |
"Automatic" - name according to ISO 10218-1:2011 |
|
AUTOMATIC_EXTERNAL |
4 |
"Automatic external" - Same as "Automatic" but with external control, e.g. by a PLC |
Its representation in the AddressSpace is defined in the table below.
Table 121 – OperationalModeEnumeration definition
|
Attribute |
Value |
|||||
|
BrowseName |
OperationalModeEnumeration |
|||||
|
IsAbstract |
False |
|||||
|
References |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
Subtype of the 0:Enumeration type defined in OPC 10000-5 |
||||||
|
0:HasProperty |
Variable |
0:EnumStrings |
0:LocalizedText [] |
0:PropertyType |
|
|