OPC UA EventTypes – OPC UA for PROFINET Drives – Part 30145: UA CS for PROFINET Drives

8 OPC UA EventTypes

8.1 AxisEventType

The AxisEventType is the abstract base for the EventTypes provided by the different subtypes of the DriveAxisType. Derived EventTypes render certain components mandatory, dependent on the nature of the event reported.

Table 35 – AxisEventType Definition

Attribute	Value
BrowseName	AxisEventType
IsAbstract	True

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of 0:BaseEventType defined in [OPC 10000-5].
0:HasProperty	Variable	AxisState	0:UInt16	0:PropertyType	M, RO
0:HasProperty	Variable	ControlPriority	0:UInt16	0:PropertyType	M, RO
0:HasProperty	Variable	OutputCurrent	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	Torque	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	Force	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	Power	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	MotorTemperature	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	ConverterTemperature	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	DeviceTemperature	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	DcBusVoltage	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	PositionFollowingError	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	VelocityFollowingError	0:Float	0:PropertyType	O, RO
0:HasProperty	Variable	ControlMode	0:UInt16	0:PropertyType	O, RO
0:HasProperty	Variable	<FeedbackSensor1..3Temperature>	0:Float	0:PropertyType	OP, RO
0:HasProperty	Variable	BrakeResistorTemperature	0:Float	0:PropertyType	O, RO

Conformance Units
PDRV Limit Events

The Properties provided are the components of the “Monitoring” folder (for a description see Table 33 section for Monitoring folder). The Values of these properties shall constitute a snapshot of the Axis/DO state when the Event is fired.

8.2 AxisSwOvertravelEventType

The AxisSwOvertravelEventType Event is fired if a motion range software limit of the axis is exceeded.

Table 36 – AxisSwOvertravelEventType Definition

Attribute	Value
BrowseName	AxisSwOvertravelEventType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of AxisEventType.
HasProperty	Variable	IsUpperSwLimit	0:Boolean	0:PropertyType	M,RO

Conformance Units
PDRV Limit Events

The IsUpperSwLimit Property indicates whether the upper software limit is exceeded (True) or the lower software limit is exceeded (False).

8.3 AxisHwOvertravelEventType

The AxisHwOvertravelEventType is fired if a motion range hardware limit of the axis is exceeded.

Table 37 – AxisHwOvertravelEventType Definition

Attribute	Value
BrowseName	AxisHwOvertravelEventType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of AxisEventType.
HasProperty	Variable	IsUpperHwLimit	0:Boolean	0:PropertyType	M,RO

Conformance Units
PDRV Limit Events

The IsUpperHwLimit Property indicates whether the upper hardware limit is exceeded (True) or the lower hardware limit is exceeded (False).

8.4 TorqueLimitEventType

The TorqueLimitEventType Event is fired if a torque range limit of the axis is exceeded.

Table 38 – TorqueLimitEventType Definition

Attribute	Value
BrowseName	TorqueLimitEventType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of AxisEventType.
HasProperty	Variable	Torque	0:Float	0:PropertyType	M, RO
HasProperty	Variable	TorqueLimit	0:Float	0:PropertyType	M, RO

Conformance Units
PDRV Limit Events

The Torque Property contains the actual torque value.

The TorqueLimit Property contains the torque limit which was exceeded causing the Event to be fired.

8.5 ForceLimitEventType

The ForceLimitEventType Event is fired if a force range limit of a linear axis is exceeded.

Table 39 – ForceLimitEventType Definition

Attribute	Value
BrowseName	ForceLimitEventType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of AxisEventType.
HasProperty	Variable	Force	0:Float	0:PropertyType	M, RO
HasProperty	Variable	ForceLimit	0:Float	0:PropertyType	M, RO

Conformance Units
PDRV Limit Events

The Force Property contains the actual force.

The ForceLimit Property contains the force limit which was exceeded causing the Event to be fired.

8.6 MotorCurrentLimitEventType

The MotorCurrentLimitEventType Event is fired if a motor current limit of the axis’s motor is exceeded.

Table 40 – MotorCurrentLimitEventType Definition

Attribute	Value
BrowseName	MotorCurrentLimitEventType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of AxisEventType.
0:HasProperty	Variable	OutputCurrent	0:Float	0:PropertyType	M, RO
0:HasProperty	Variable	MotorCurrentLimitHigh	0:Float	0:PropertyType	M, RO

Conformance Units
PDRV Limit Events

The OutputCurrent Property contains the actual motor current.

The MotorCurrentLimitHigh Property contains the upper motor current limit exceeded causing the Event to be fired.

8.7 DiagnosisAlarmType

Table 41 – DiagnosisAlarmType Definition

Attribute	Value
BrowseName	DiagnosisAlarmType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of 0:AlarmConditionType defined in [OPC 10000-9].
HasProperty	Variable	LogEntry	3:LogEntryDataType	0:PropertyType	M,RO

Conformance Units
PDRV Diagnosis Alarms