OPC UA for Robotics – Part 1: Vertical Integration
10.2 AxisMotionProfileEnumeration
The AxisMotionProfileEnumeration provides the kind of axis motion as defined in Table 116.
Table 116 – AxisMotionProfileEnumeration
Name
Value
Description
OTHER
0
Any motion-profile which is not defined by the AxisMotionProfileEnumeration
ROTARY
1
Rotary motion is a rotation along a circular path with defined limits. Motion movement is not going always in the same direction. Control unit is degree.
ROTARY_ENDLESS
2
Rotary motion is a rotation along a circular path with no limits. Motion movement is going endless in the same direction. Control unit is degree.
LINEAR
3
Linear motion is a one-dimensional motion along a straight line with defined limits. Motion movement is not going always in the same direction. Control unit is mm.
LINEAR_ENDLESS
4
Linear motion is a one-dimensional motion along a straight line with no limits. Motion movement is going endless in the same direction. Control unit is mm.
Its representation in the AddressSpace is defined in the table below.
