Mapping of DataTypes – OPC UA for AutoId Devices – AutoID: OPC UA for AutoId Devices

9 Mapping of DataTypes

9.1 Primitive data types

9.1.1 LocationName

This DataType is a String that represents an arbitrary name given to a location. It can be used to return location denominations in a simple way, independent of complex coordinate structures.

Its representation in the AddressSpace is defined in Table 29.

Table 29 – LocationName Definition

Attributes	Value
BrowseName	LocationName
Subtype of String defined in OPC 10000-5.

9.1.2 NmeaCoordinateString

This DataType is a String that represents a GPS coordinate as defined by NMEA 0183 v. 4.10.

Its representation in the AddressSpace is defined in Table 30.

Table 30 – NmeaCoordinateString Definition

Attributes	Value
BrowseName	NmeaCoordinateString
Subtype of String defined in OPC 10000-5.

9.1.3 CodeTypeDataType

This DataType is a String that represents a code type used for an AutoID Identifier.

Its representation in the AddressSpace is defined in Table 31.

Table 31 – CodeTypeDataType Definition

Attributes	Value
BrowseName	CodeTypeDataType
Subtype of String defined in OPC 10000-5.

The values in the CodeTypeDataType are extensible by individual manufacturers, starting with "CUSTOM:”. Predefined values are defined in Table 32

Table 32 – CodeType Values

Code Type Value	ScanData Value field in union defined in 9.4.2	Data Type	Description
"RAW:BYTES"	ByteString	ByteString	AutoID Device specific raw data
"RAW:STRING"	String	String	AutoID Device specific raw data to be interpreted as string
"EPC"	Epc	ScanDataEpc	EPC binary structure as defined in 9.3.6
“UID”	ByteString	ByteString	AutoID Identifier according to ISO/IEC 18000-3 Mode 3, ISO/IEC 18000-63 and GS1 EPCglobal™.
“GS1”	ByteString	ByteString	Raw data containing application identifiers (AI) and data according to ISO/IEC 15418. In case of RFID bit 0x17 of PC is not set. PC contains no AFI. In case of barcode data start with macro 05 according ISO/IEC 15434.
“ASC”	ByteString	ByteString	Raw data containing data identifiers (DI) and data according to ISO/IEC 15418. In case of RFID bit 0x17 is set. PC contains AFI. In case of barcode data start with macro 06 according ISO/IEC 15434.
"URI"	String	String	URI, e.g. EPC string value according to "GS1 EPC Tag Data Standard 1.6" Example ScanData String value: "urn:epc:id:sgtin:0614141.112345.400" Also usable for other URIs
"CUSTOM:xxx"	ByteString String Custom	ByteString String BaseDataType	Any custom defined value ("xxx" is a AutoID Device specific substring of arbitrary length).

Transponder as well as optical 2D-Codes are data carrier for information usually displayed in bits and bytes. But the contained information could be organized in a certain structure. How to do this in a norm conforming way is described in the standard ISO/IEC 15434 “Syntax for high capacity ADC Media” (ADC stands for Automatic Data Capture).

The two most prominent data structures in use are following the rules of GS1 and the ASC MH1. They are described in the standard ISO/IEC 15418 (Data Identifier and Application Identifier).

It is the purpose of these international standards to define the syntax for high capacity ADC media (such as transponder or 2D-Codes), in order to enable ADC users to utilize a single mapping utility, regardless of which high capacity ADC media is employed.

The interoperability of different data structures is achieved by the definition of a Message Header and a Format Header. While the Message Header defines the start and the end of the data contained, the Format Header indicates which data format is used.

Below two examples are shown for a GS1 and an ASC data format.

Example GS1

<Macro05>01312345123457GS1012345GS17101231

Interpretation by the Reader

]d1[)>RS05GS0134012345123457GS1012345GS17101231RSEOT

Example ASC MH 10

<Macro06>25PLEABCBQ3DGS1T234567GS14D101231

Interpretation by the Reader

]d1[)>RS06GS 25PLEABCBQ3DGS1T234567GS14D20101231RSEOT

For RFID the data structures are controlled by AFIs (lower 8 bits of PC) when ISO format is used according ISO/IEC 15961-2 and -3. Depending on the AFI different data compression methods may be used. Details are described for example in ISO 17363, 17364, 17365, 17366 and 17367.

9.2 Enumeration DataTypes

9.2.1 AutoIdOperationStatusEnumeration

This DataType is an enumeration that specifies the status for the AutoID operations like scan, read, write, lock or kill. Its values are defined in Table 33.

Not all status values are usable for all AutoID reader types. The table contains flags to indicate the expected status values for the different reader types.

Table 33 – AutoIdOperationStatusEnumeration Values

Name	Description	OCR	Opt.	RFID	RTLS
SUCCESS_0	Successful operation	X	X	X	X
MISC_ERROR_TOTAL_1	The operation has not been executed in total			X
MISC_ERROR_PARTIAL_2	The operation has been executed only partial			X
PERMISSON_ERROR_3	Password required			X
PASSWORD_ERROR_4	Password is wrong			X
REGION_NOT_FOUND_ERROR_5	Memory region not available for the actual tag			X
OP_NOT_POSSIBLE_ERROR_6	Operation not supported by the actual tag			X
OUT_OF_RANGE_ERROR_7	Addressed memory not available for the actual tag			X
NO_IDENTIFIER_8	The operation cannot be executed because no tag or code was inside the range of the AutoID Device or the tag or code has been moved out of the range during execution	X	X	X	X
MULTIPLE_IDENTIFIERS_9	Multiple tags or codes have been selected, but the command can only be used with a single tag or code	X	X	X
READ_ERROR_10	The tag or code exists and has a valid format, but there was a problem reading the data (e.g. still CRC error after maximum number of retries)		X	X
DECODING_ERROR_11	The (optical) code or plain text has too many failures and cannot be detected	X	X
MATCH_ERROR_12	The code doesn’t match the given target value	X	X
CODE_NOT_SUPPORTED_13	The code format is not supported by the AutoID Device		X
WRITE_ERROR_14	The tag exists, but there was a problem writing the data			X
NOT_SUPPORTED_BY_DEVICE_15	The command or a parameter combination is not supported by the AutoID Device	X	X	X	X
NOT_SUPPORTED_BY_TAG_16	The command or a parameter combination is not supported by the tag			X
DEVICE_NOT_READY_17	The AutoID Device is in a state not ready to execute the command	X	X	X	X
INVALID_CONFIGURATION_18	The AutoID Device configuration is not valid	X	X	X
RF_COMMUNICATION_ERROR_19	This error indicates that there is a general error in the communication between the transponder and the reader			X	X
DEVICE_FAULT_20	The AutoID Device has a hardware fault	X	X	X	X
TAG_HAS_LOW_BATTERY_21	The battery of the (active) tag is low			X	X

Its representation in the AddressSpace is defined in Table 34.

Table 34 – AutoIdOperationStatusEnumeration Definition

Attribute		Value
BrowseName		AutoIdOperationStatusEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumValues	0:EnumValueType []	0:PropertyType

9.2.2 DeviceStatusEnumeration

This DataType is an enumeration that defines operational states of an AutoID Device. Its values are defined in Table 35.

Table 35 – DeviceStatusEnumeration Values

Name	Description
Idle_0	The AutoID Device is operating normally and ready to accept commands like Scan or ScanStart method calls (whichever are supported).
Error_1	The AutoID Device is not operating normally. An error condition has to be fixed before normal operation is possible.
Scanning_2	The AutoID Device is operating normally and asynchronous scanning (via ScanStart or automatically) is active. It is AutoID Device dependent which method calls other than ScanStop will be accepted in this state.
Busy_3	The AutoID Device is operating normally, but currently busy (e.g. by synchronous calls of other clients) and not able to accept commands like Scan or ScanStart method calls. This state normally is a temporary one.

Its representation in the AddressSpace is defined in Table 36.

Attribute		Value
BrowseName		DeviceStatusEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumStrings	0:LocalizedText []	0:PropertyType

9.2.3 LocationTypeEnumeration

This DataType is an enumeration that defines the format of the location of an object returned by an RTLS device or system. Its values are defined in Table 37.

Table 37 – LocationTypeEnumeration Values

Name	Description
NMEA_0	An NMEA string representing a coordinate as defined in 9.1.2.
LOCAL_1	A local coordinate as defined in 9.3.4
WGS84_2	A lat/lon/alt coordinate as defined in 9.3.16
NAME_3	A name for a location as defined in 9.1.1

Its representation in the AddressSpace is defined in Table 38.

Table 38 – LocationTypeEnumeration Definition

Attribute		Value
BrowseName		LocationTypeEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumStrings	0:LocalizedText []	0:PropertyType

9.2.4 RfidLockOperationEnumeration

This DataType is an enumeration that defines the operational mode of the LockTag Method Its values are defined in Table 39.

Table 39 – RfidLockOperationEnumeration Values

Name	Description
Lock_0	Locks the memory area
Unlock_1	Unlocks the memory area
PermanentLock_2	Locks the memory area irreversible
PermanentUnlock_3	Unlocks the memory area irreversible

Its representation in the AddressSpace is defined in Table 40.

Attribute		Value
BrowseName		RfidLockOperationEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumStrings	0:LocalizedText []	0:PropertyType

9.2.5 RfidLockRegionEnumeration

This DataType is an enumeration that defines the memory region that a lock operation affects. Its values are defined in Table 41.

Table 41 – RfidLockRegionEnumeration Values

Name	Description
Kill_0	The kill password
Access_1	The access password
EPC_2	The UII/EPC bank (bank 01)
TID_3	The TID bank (bank 10)
User_4	The user memory bank (bank 11)

Its representation in the AddressSpace is defined in Table 42.

Table 42 – RfidLockRegionEnumeration Definition

Attribute		Value
BrowseName		RfidLockRegionEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumStrings	0:LocalizedText []	0:PropertyType

9.2.6 RfidPasswordTypeEnumeration

This DataType is an enumeration that defines the type of a password. Its values are defined in Table 43.

Table 43 – RfidPasswordTypeEnumeration Values

Name	Description
Access_0	Access password
Kill_1	Kill password
Read_2	Read password
Write_3	Write password

Its representation in the AddressSpace is defined in Table 44.

Attribute		Value
BrowseName		RfidPasswordTypeEnumeration
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Enumeration defined in OPC 10000-5.
0:HasProperty	Variable		0:EnumStrings	0:LocalizedText []	0:PropertyType

9.3 OPC UA Structure DataTypes

9.3.1 General

The Stuctured DataTypes in this chapter are formally defined in two different table formats.

One table format has the columns Name, Type and Description for the definition of standard OPC UA structures where all structure elements are mandatory and must be transported between OPC UA Client and Server.

The second table format has the columns Name, Type, Optional and Description for the definition of OPC UA structures with optional structure elements.

9.3.2 Structure DataType Overview

The following Figure 14 provides an overview of the Structure DataTypes defined for the AutoID Device access.

9.3.3 AntennaNameIdPair

This DataType is a structure that defines a pair of RFID antenna ID and antenna name. Its composition is formally defined in Table 45.

Table 45 – AntennaNameIdPair Structure

Name	Type	Description
AntennaNameIdPair	Structure	Subtype of Structure defined in OPC 10000-5.
AntennaId	Int32	ID of the antenna returned in the RfidSighting contained in the RfidScanResult. The RfidSighting is defined in 9.3.13. The RfidScanResult is defined in 9.3.12.
AntennaName	String	Name of the antenna with the AntennaId.

Its representation in the AddressSpace is defined in Table 46.

Table 46 – AntennaNameIdPair Definition

Attribute		Value
BrowseName		AntennaNameIdPair
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.4 LocalCoordinate

This DataType is a structure that defines the location of an object in a Cartesian local coordinate system arbitrarily chosen during configuration of an RTLS system. Its composition is formally defined in Table 47.

Table 47 – LocalCoordinate Structure

Name	Type	Description
LocalCoordinate	Structure	Subtype of Structure defined in OPC 10000-5.
X	Double	The X – coordinate of the object’s position in the unit defined by the LengthUnit property of the AutoID Device.
Y	Double	The Y – coordinate of the object’s position in the unit defined by the LengthUnit property of the AutoID Device.
Z	Double	The Z – coordinate of the object’s position in the unit defined by the LengthUnit property of the AutoID Device.
Timestamp	UtcTime	Timestamp in UtcTime
DilutionOfPrecision	Double	DOP is a value for the variance of the measurements delivered by the location system. The calculation of the value depends on the underlying system and is vendor specific. Values should be in accordance with the implementations like in GNSS systems.
UsefulPrecision	Int32	Values for Easting, Northing, and Altitude should be rounded by the clien tapplication to the n-th position after the decimal point. It specifies the number of useful digits after the decimal place.

Its representation in the AddressSpace is defined in Table 48.

Table 48 – LocalCoordinate Definition

Attribute		Value
BrowseName		LocalCoordinate
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.5 Position

This DataType is a structure that defines the position and the size of a code or a plain text within an image (so-called code area, used by OCR and optical code readers). Its composition is formally defined in Table 49.

Table 49 – Position Structure

Name	Type	Description
Position	Structure	Subtype of Structure defined in OPC 10000-5.
PositionX	Int32	X coordinate of the top-left edge of the code area (counting starts on the left side of the image)
PositionY	Int32	Y coordinate of the top-left edge of the code area (counting starts on the top side of the image)
SizeX	Int32	Horizontal size of the code area in pixel
SizeY	Int32	Vertical size of the code area in pixel
Rotation	Int32	The rotation of the code area

Its representation in the AddressSpace is defined in Table 50.

Table 50 – Position Definition

Attribute		Value
BrowseName		Position
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.6 ScanDataEpc

This DataType is a structure that defines the structure of the scanned data in Epc_1 format. Its composition is formally defined in Table 51.

Table 51 – ScanDataEpc Structure

Name	Type	Description	Optional
ScanDataEpc	Structure	Subtype of Structure defined in OPC 10000-5.
PC	UInt16	Protocol control information according to ISO/IEC 18000-3 Mode 3, ISO/IEC 18000-63 and GS1 EPCglobal™.	False
UId	ByteString	AutoID Identifier according to ISO/IEC 18000-3 Mode 3, ISO/IEC 18000-63 and GS1 EPCglobal™.	False
XPC_W1	UInt16	Extended protocol control word 1 according to ISO/IEC 18000-3 Mode 3, ISO/IEC 18000-63 and GS1 EPCglobal™.	True
XPC_W2	UInt16	Extended protocol control word 2 according to ISO/IEC 18000-3 Mode 3, ISO/IEC 18000-63 and GS1 EPCglobal™.	True

Its representation in the AddressSpace is defined in Table 52.

Table 52 – ScanDataEpc Definition

Attribute		Value
BrowseName		ScanDataEpc
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.7 ScanSettings

This DataType is a structure that defines the settings for a scan execution. Its composition is formally defined in Table 53.

Table 53 – ScanSettings Structure

Name	Type	Description	Optional
ScanSettings	Structure	Subtype of Structure defined in OPC 10000-5.
Duration	Duration	Duration of the scan operation in milliseconds. Duration is one of the termination conditions for the scan operation. The value 0 is infinite. The termination conditions are related to each other. If one of the conditions is fulfilled, the scan operation is stopped.	False
Cycles	Int32	Duration of the scan operation in ‘number of scan cycles’. The parameter Cycles is one of the termination conditions for the scan operation. The value 0 is infinite. The termination conditions are related to each other. If one of the conditions is fulfilled, the scan operation is stopped.	False
DataAvailable	Boolean	If this value is set to True, the scan operation is completed as soon as scan data is available. If this value is set to False, only the other termination conditions are used.	False
LocationType	LocationType Enumeration	The requestsd type of the location information returned in the scan results. The LocationTypeEnumeration DataType is defined in 9.2.3.	True

Its representation in the AddressSpace is defined in Table 54.

Attribute		Value
BrowseName		ScanSettings
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.8 ScanResult

This DataType is a structure that defines the results of a scan. Its composition is formally defined in Table 55.

Table 55 – ScanResult Structure

Name	Type	Description	Optional
ScanResult	Structure	Subtype of Structure defined in OPC 10000-5.
CodeType	CodeTypeDataType	Defines the format of the ScanData as string. The String DataType CodeTypeDataType and the predefined format strings are defined in 9.1.3.	False
ScanData	ScanData	Holds the information about the detected objects e.g. the detected transponders. The ScanData DataType is defined in 9.4.2.	False
Timestamp	UtcTime	Timestamp of the ScanResult creation.	False
Location	Location	Returns the location of the object detection. The Location DataType is defined in 9.4.1.	True

The ScanResult Structure representation in the AddressSpace is defined in Table 56.

Table 56 – ScanResult Definition

Attribute		Value
BrowseName		ScanResult
IsAbstract		True

References	NodeClass	BrowseName	IsAbstract
Subtype of Structure defined in OPC 10000-5.
Has Subtype	DataType	OcrScanResult	False
Has Subtype	DataType	OpticalScanResult	False
Has Subtype	DataType	RfidScanResult	False
Has Subtype	DataType	RtlsLocationResult	False

9.3.9 OcrScanResult

This DataType is a structure that defines the results of an OCR reader device scan. Its composition is formally defined in Table 57.

Table 57 – OcrScanResult Structure

Name	Type	Description	Optional
OcrScanResult	Structure	Subtype of ScanResult defined in 9.3.8.
ImageId	NodeId	NodeId of the original scan image file object used for this scan result. This image file is also available through the Images folder defined in 6.2.3.2.	False
Quality	Byte	Returns the probability of correct decoding.	False
Position	Position	Returns the position of the text within the image The Position DataType is defined in 9.3.5.	False
Font	String	Returns the font name used for decoding	True
DecodingTime	UtcTime	Returns the required decoding time	True

Its representation in the AddressSpace is defined in Table 58.

Table 58 – OcrScanResult Definition

Attribute		Value
BrowseName		OcrScanResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of ScanResult defined in 9.3.8.

9.3.10 OpticalScanResult

This DataType is a structure that defines the results of a scan. Its composition is formally defined in Table 59.

Table 59 – OpticalScanResult Structure

Name	Type	Description	Optional
OpticalScanResult	Structure	Subtype of ScanResult defined in 9.3.8.
Grade	Float	Returns the Grade of the 1D/2D code according to IEC 15415 (2D) and IEC 15416 (1D). The Grade is a value between 0 and 4 where 0 is the worst quality and 4 is the best quality.	True
Position	Position	Returns the position of the text within the image The Position DataType is defined in 9.3.5.	True
Symbology	String	Type of barcode per ISO/IEC 15424. Example: "]I1".	True
ImageId	NodeId	NodeId of the original scan image file object used for this scan result.	True

Its representation in the AddressSpace is defined in Table 60.

Attribute		Value
BrowseName		OpticalScanResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	IsAbstract
Subtype of ScanResult defined in 9.3.8.
Has Subtype	DataType		OpticalVerifierScanResult			False

9.3.11 OpticalVerifierScanResult

This DataType is a structure that defines the results of a scan. Its composition is formally defined in Table 61.

Table 61 – OpticalVerifierScanResult Structure

Name	Type	Description	Optional
OpticalVerifierScanResult	Structure	Subtype of OpticalScanResult defined in 9.3.10.
IsoGrade	String	This value contains the ISO grade, the aperture and the wavelength used. Example content: "2.7/10/660" With the '2.7' being the grade, the '10' being the measuring aperture that was used for the analysis and the '660' is the wavelength of light used to illuminate the code. If the grade is reported without aperture and wavelength, then it really is quite meaningless (a code measured with an '06' aperture can give a totally different result that one measured with a '20' aperture for instance).	False
RMin	Int16	The minimum reflection value in percent (from a dark bar). Example: 6	False
SymbolContrast	Int16	The Symbol Contrast value (Rmax – Rmin) in percent. Example: 41	False
ECMin	Int16	The minimum Edge Contrast value in percent. Example: 31	False
Modulation	Int16	The modulation (ECmin / SC) value in percent. Example: 76	False
Defects	Int16	The defects value in percent. Example: 14	False
Decodability	Int16	The decodability value in percent. Example: 87	False
Decode	Int16	The decode content value in percent. Example: 100	False
PrintGain	Int16	The print gain value in percent (-4%). Example: -4	False

Its representation in the AddressSpace is defined in Table 62.

Table 62 – OpticalVerifierScanResult Definition

Attribute		Value
BrowseName		OpticalVerifierScanResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of OpticalScanResult defined in 9.3.10.

9.3.12 RfidScanResult

This DataType is a structure that defines the results of a RFID reader device scan. Its composition is formally defined in Table 63.

Table 63 – RfidScanResult Structure

Name

Type

Description

RfidScanResult

Structure

Subtype of ScanResult defined in 9.3.8.

Sighting

RfidSighting [ ]

Returns additional information on the RFID-related properties of the scan event as array of RfidSightings.

Each AutoID Identifier can be detected several times during a scan cycle. Each detection of the AutoID Identifier causes an entry into the Sightings array.

The RfidSighting DataType is defined in 9.3.13.

Its representation in the AddressSpace is defined in Table 64.

Attribute		Value
BrowseName		RfidScanResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of ScanResult defined in 9.3.8.

9.3.13 RfidSighting

This DataType is a structure that defines additional RFID-related information of an AutoID Identifier detection during a scan cycle. Its composition is formally defined in Table 65.

Table 65 – RfidSighting Structure

Name	Type	Description
RfidSighting	Structure	Subtype of Structure defined in OPC 10000-5.
Antenna	Int32	Returns the number of the antenna which detects the RFID tag first.
Strength	Int32	Returns the signal strength (RSSI) of the transponder. Higher values indicate a better strength.
Timestamp	UtcTime	Timestamp in UtcTime.
CurrentPowerLevel	Int32	Returns the current power level (unit according to parameter settings)

Its representation in the AddressSpace is defined in Table 66.

Table 66 – RfidSighting Definition

Attribute		Value
BrowseName		RfidSighting
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.14 Rotation

This DataType is a structure that defines the rotation (or heading) of an object relative to the base coordinate system. The format is ‘yaw, pitch, roll’ as defined for aircraft principal axes. Its composition is formally defined in Table 67.

Table 67 – Rotation Structure

Name	Type	Description
Rotation	Structure	Subtype of Structure defined in OPC 10000-5.
Yaw	Double	The yaw of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a vertical axis. Reference (yaw = 0) is the X-axis of the coordinate system
Pitch	Double	The pitch of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a horizontal axis. Reference (pitch = 0) is the direction of the yaw on the horizontal plane of the coordinate system
Roll	Double	The roll of the object, in the unit defined for rotational measurements, e. g. in radians between PI and –PI (or in deg between +180° and -180°). Rotation measured around a horizontal axis pointing in the direction defined by yaw, pitch

Its representation in the AddressSpace is defined in Table 68.

Attribute		Value
BrowseName		Rotation
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.15 RtlsLocationResult

This DataType is a structure that defines the results that an RTLS device or system returns. It extends the ScanResult structure. Its composition is formally defined in Table 69.

The optional Location field defined in the ScanResult structure shall be included in RtlsLocationResults.

Table 69 – RtlsLocationResult Structure

Name	Type	Description	Optional
RtlsLocationResult	Structure	Subtype of ScanResult defined in 9.3.8.
Speed	Double	The current speed above ground of the located object. The unit is defined by the SpeedUnit variable.	True
Heading	Double	The (geographical) direction the located object is moving in on a plane. The unit is defined by the RotationUnit variable, but note that the heading can be different from the rotation of the object.	True
Rotation	Rotation	The rotation of the object identified by the UId as defined in 9.3.14.	True
ReceiveTime	UtcTime	ReceiveTime provides the time the RTLS received the location information from the underlying device.	True

Its representation in the AddressSpace is defined in Table 70.

Table 70 – RtlsLocationResult Definition

Attribute		Value
BrowseName		RtlsLocationResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of ScanResult defined in 9.3.8.

9.3.16 WGS84Coordinate

This DataType is a structure that defines the georeferenced location of an object on the earth’s surface in latitude, longitude and altitude using the World Geodetic System’s (WGS84) reference frame. Its composition is formally defined in Table 71.

Table 71 – WGS84Coordinate Structure

Name	Type	Description
WGS84Coordinate	Structure	Subtype of Structure defined in OPC 10000-5.
N/S Hemisphere	String	‘N’ or ‘S’ for northern or southern hemisphere
Latitude	Double	Latitude in the unit defined by the GeographicalUnit property of the DeviceLocation Variable of the AutoID Device defined in 6.1.3.12.
E/W Hemisphere	String	‘E’ or ‘W’ for eastern or western hemisphere
Longitude	Double	Longitude in the unit by the GeographicalUnit property of the DeviceLocation Variable of the AutoID Device defined in 6.1.3.12.
Altitude	Double	Altitude in the unit by the GeographicalUnit property of the DeviceLocation Variable of the AutoID Device defined in 6.1.3.12.
Timestamp	UtcTime	Timestamp in UtcTime
DilutionOfPrecision	Double	DOP is a value for the variance of the measurements delivered by the location system. The calculation of the value depends on the underlying system and is vendor specific. Values should be in accordance with the implementations like in GNSS systems.
UsefulPrecisionLatLon	Int32	Values for Latitude and Longitude should be rounded by the client application to the n-th position after the decimal point. It specifies the number of useful digits after the decimal place.
UsefulPrecisionAlt	Int32	Values for Altitude should be rounded by the client application to the n-th position after the decimal point. It specifies the number of useful digits after the decimal place.

Its representation in the AddressSpace is defined in Table 72.

Attribute		Value
BrowseName		WGS84Coordinate
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Structure defined in OPC 10000-5.

9.3.17 AccessResult

This DataType is a structure that defines the result values of an AutoID Identifier access of an AutoID device. Its composition is formally defined in Table 73.

Table 73 – AccessResult Structure

Name	Type	Description	Optional
AccessResult	Structure	Subtype of Structure defined in OPC 10000-5.
CodeType	CodeTypeDataType	Defines the format of Identifier as string. The String DataType CodeTypeDataType and the predefined format strings are defined in 9.1.3.	true
Identifier	ScanData	The AutoID identifier (e.g. a code or a transponder) which was accessed by the command. The ScanData DataType is defined in 9.4.2. When this value exists, the value CodeType must be available too.	true
Timestamp	UtcTime	The point of time the AutoID Identifier was accessed by the command.	true

The AccessResult Structure representation in the AddressSpace is defined in Table 74.

Table 74 – AccessResult Definition

Attribute		Value
BrowseName		AccessResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	IsAbstract
Subtype of Structure defined in OPC 10000-5.
Has Subtype	DataType		RfidAccessResult			False

9.3.18 RfidAccessResult

This DataType is a structure that defines the additional result values of a Rfid Transponder access of a Rfid reader device. Its composition is formally defined in Table 75.

Table 75 – RfidAccessResult Structure

Name	Type	Description	Optional
RfidAccessResult	Structure	Subtype of AccessResult defined in 9.3.17.
CodeTypeRWData	CodeTypeDataType	Defines the format of RWData as string. The String DataType CodeTypeDataType and the predefined format strings are defined in 9.1.3.	true
RWData	ScanData	The user data which was written to / was read from the Rfid Transponder by the command. The ScanData DataType is defined in 9.4.2. When this value exists, the value CodeType must be available too.	true
Antenna	Int32	The antenna by which the transponder was accessed by the command.	true
CurrentPowerLevel	Int32	The power level with which the transponder was accessed by the command.	true
PC	UInt16	The Protocol Control Word of the transponder accessed by the command.	true
Polarization	String	The Polarization with which the transponder was accessed by the command.	true
Strength	Int32	The Rssi value with which the transponder was accessed by the command.	true

Its representation in the AddressSpace is defined in Table 76.

Table 76 – RfidAccessResult Definition

Attribute		Value
BrowseName		RfidAccessResult
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of AccessResult defined in 9.3.17.

9.4 OPC UA Union DataTypes

9.4.1 Location

This DataType is a union that defines different types of location values. Its composition is formally defined in Table 77.

Table 77 – Location Union

Name	Type	Description
Location	Union
NMEA	NmeaCoordinateString	The DataType NmeaCoordinateString is defined in 9.1.2.
Local	LocalCoordinate	The DataType LocalCoordinate is defined in 9.3.4.
WGS84	WGS84Coordinate	The DataType WGS84Coordinate is defined in 9.3.16.
Name	LocationName	The DataType LocationName is defined in 9.1.1

Its representation in the AddressSpace is defined in Table 78.

Attribute		Value
BrowseName		Location
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Union defined in OPC 10000-5.

9.4.2 ScanData

This DataType is a union that defines the format of the data scanned by the AutoID Device. Its composition is formally defined in Table 79.

Table 79 – ScanData Union

Name	Type	Description
ScanData	Union
ByteString	ByteString	Scanned data in RAW format.
String	String	Scanned data as String.
Epc	ScanDataEpc	Scanned data as ScanDataEpc structure.
Custom	BaseDataType	Vendor specific data structure.

Its representation in the AddressSpace is defined in Table 80.

Attribute		Value
BrowseName		ScanData
IsAbstract		False

References	NodeClass		BrowseName	DataType	TypeDefinition	Other
Subtype of Union defined in OPC 10000-5.