The following sections specify the Facets available for Servers that implement the OPC UA for Robotics companion specification. Each section defines and describes a Facet or Profile.
Table 124 defines a Facet that describes the Robotics Base Server Facet.
Table 124 – Robotics Base Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Address Space Model |
0:Address Space Base |
M |
|
Address Space Model |
0:Address Space Interfaces |
M |
|
Address Space Model |
0:Address Space AddIn Reference |
M |
|
Address Space Model |
0:Address Space AddIn DefaultInstanceBrowsename |
M |
|
View Services |
0:View Basic |
M |
|
View Services |
0:View TranslateBrowsePath |
M |
|
View Services |
0:View Minimum Continuation Point 01 |
M |
|
Attribute Services |
0:Attribute Read |
M |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
Table 125 defines a Facet that describes the Robotics MDS Operation Server Facet.
Table 125 – Robotics MDS Operation Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Profile |
Robotics Base Server Facet |
M |
|
Robotics |
Rob System Operation |
M |
|
Robotics |
Rob Task Control Operation |
O |
|
Robotics |
Rob RobAckCondInstance |
O |
|
Robotics |
Rob Task Control ReadySubstate |
O |
|
Robotics |
Task Control Ready Reset |
O |
|
Robotics |
Rob Program File Directory |
O |
|
Robotics |
Rob Task Control Modules |
O |
Table 126 defines a Facet that describes the Robotics AM Extended Server Facet.
Table 126 – Robotics AM Extended Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
|
Robotics |
Rob MotionDevice AM Extended |
M |
|
Robotics |
Rob MotionDevice Flangeload |
O |
|
Robotics |
Rob TC Relationship |
O |
|
Robotics |
Rob Axis AM Extended |
M |
|
Robotics |
Rob Axis AdditionalLoad |
O |
|
Robotics |
Rob PowerTrain AM Extended |
M |
|
Robotics |
Rob Gear AM Extended |
M |
|
Robotics |
Rob Emergency Stop Function |
O |
|
Robotics |
Rob Protective Stop Function |
O |
|
Robotics |
Rob Controller AM Extended |
M |
|
Robotics |
Rob TC MD Relationship |
O |
|
Robotics |
Rob Program File Directory |
O |
|
Robotics |
Rob Task Control Modules |
O |
Table 127 defines a Facet that describes the Robotics CM Extended Server Facet.
Table 127 – Robotics CM Extended Server Facet
|
Group |
Conformance Unit / Profile Title |
Mandatory / Optional |
|
Robotics |
Rob MotionDeviceSystem Base |
M |
|
Robotics |
Rob MotionDevice CM Extended |
M |
|
Robotics |
Rob Axis CM Extended |
M |
|
Robotics |
Rob PowerTrain CM Extended |
M |
|
Robotics |
Rob Gear CM Extended |
M |
|
Robotics |
Rob Controller CM Extended |
M |
|
Robotics |
Rob System Monitor |
O |
|
Robotics |
Rob System Events |
O |
|
Robotics |
Rob System IdleSubstate |
O |
|
Robotics |
Rob System ExecutingSubstate |
O |
|
Robotics |
Rob Task Control CM Extended |
M |
|
Robotics |
Rob Task Control Monitor |
O |
|
Robotics |
Rob RobAckCondInstance |
O |