OPC UA for Robotics – Part 1: Vertical Integration
10.1 MotionDeviceCategoryEnumeration
MotionDeviceCategoryEnumeration provides the kind of motion device based on ISO 8373. It is defined in Table 114.
Table 114 – MotionDeviceCategoryEnumeration Items
Name
Value
Description
OTHER
0
Any motion-device which is not defined by the MotionDeviceCategoryEnumeration
ARTICULATED_ROBOT
1
This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints.
SCARA_ROBOT
2
Robot has two parallel rotary joints to provide compliance in a selected plane
CARTESIAN_ROBOT
3
Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints deliver a linear motion along the axis.
SPHERICAL_ROBOT
4
The arm is connected to the base with a twisting joint and a combination of two rotary joints and one linear joint. The axes form a polar coordinate system and create a spherical-shaped work envelope.
PARALLEL_ROBOT
5
These spider-like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single end of arm tooling in a dome-shaped work area.
CYLINDRICAL_ROBOT
6
The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope.
Its representation in the AddressSpace is defined in the table below.
