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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.3.2 AxisType definition
  HasComponent Variable ActualSpeed 0:Double 0:AnalogUnitType O 2:ParameterSet 0:HasComponent Variable ActualAcceleration 0:Double 0:AnalogUnitType O The AssetId property is a user writable alphanumeric character sequence uniquely ... axis shall be provided by the EURange property of the AnalogUnitType. Variable ActualAcceleration : The ActualAcceleration variable provides the axis acceleration. Applicable acceleration limits of the axis shall be provided