Table 17 – PowerTrainType Definition

Attribute	Value
BrowseName	PowerTrainType
IsAbstract	False
References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI), inheriting the InstanceDeclarations of that Node
0:HasComponent	Object	<MotorIdentifier>		MotorType	MP
0:HasComponent	Object	<GearIdentifier>		GearType	OP
Moves	Object	<AxisIdentifier>		AxisType	OP
HasSlave	Object	<PowerTrainIdentifier>		PowerTrainType	OP
0:HasProperty	Variable	2:ComponentName	0:LocalizedText	0:PropertyType	O
Conformance Units
Rob MotionDeviceSystem Base
Rob PowerTrain AM Extended

The ComponentName property provides a user writable name provided by the vendor, integrator, or user of the device. The ComponentName may be a default name given by the vendor.

The ComponentName of the PowerTrainType provides a manufacturer-specific power train identifier within the control system.

This property is defined by ComponentType defined in OPC 10000-100.

<MotorIdentifier> indicates that a power train contains one or more motors represented by MotorType instances.

The IsConnectedTo ReferenceType defined in 8.6 is intended to provide the relationship between a motor and a gear of a power train.

<GearIdentifier> indicates that a power train may contain one or more gears represented by GearType instances.

The IsConnectedTo ReferenceType defined in 8.6 is intended to provide the relationship between a motor and a gear of a power train.

Moves is a reference to provide the relationship of power trains to axes. For complex kinematics this does not need to be a one-to-one relationship, because a power train might influence the motion of more than one axis. This reference connects all axis to a power train that that move when only this power train moves and all other powertrains stand still. The InverseName is IsMovedBy.

HasSlave is a reference to provide the master-slave relationship of power trains which provide torque for a common axis. The InverseName is IsSlaveOf.