11.2 Profiles

11.2.1 Profile list

Table 123 lists all Profiles defined in this document and defines their URIs.

Table 123 – Profile URIs for OPC UA for Robotics
Profile URI
Robotics Base Server Facethttp://opcfoundation.org/UA-Profile/Robotics/Server/RobBase
Robotics MDS Operation Server Facethttp://opcfoundation.org/UA-Profile/Robotics/Server/RobOperation
Robotics AM Extended Server Facethttp://opcfoundation.org/UA-Profile/Robotics/Server/RobAMExtended
Robotics CM Extended Server Facethttp://opcfoundation.org/UA-Profile/Robotics/Server/RobCMExtended

11.2.2 Server Facets

11.2.2.1 Overview

The following sections specify the Facets available for Servers that implement the OPC UA for Robotics companion specification. Each section defines and describes a Facet or Profile.

11.2.2.2 Robotics Base Server Facet

Table 124 defines a Facet that describes the Robotics Base Server Facet.

Table 124 – Robotics Base Server Facet
Group Conformance Unit / Profile Title Mandatory / Optional
Address Space Model0:Address Space BaseM
Address Space Model0:Address Space InterfacesM
Address Space Model0:Address Space AddIn ReferenceM
Address Space Model0:Address Space AddIn DefaultInstanceBrowsenameM
View Services0:View BasicM
View Services0:View TranslateBrowsePathM
View Services0:View Minimum Continuation Point 01M
Attribute Services0:Attribute ReadM
RoboticsRob MotionDeviceSystem BaseM
11.2.2.3 Robotics MDS Operation Server Facet

Table 125 defines a Facet that describes the Robotics MDS Operation Server Facet.

Table 125 – Robotics MDS Operation Server Facet
Group Conformance Unit / Profile Title Mandatory / Optional
ProfileRobotics Base Server FacetM
RoboticsRob System OperationM
RoboticsRob Task Control OperationO
RoboticsRob RobAckCondInstanceO
RoboticsRob Task Control ReadySubstateO
RoboticsTask Control Ready ResetO
RoboticsRob Program File DirectoryO
RoboticsRob Task Control ModulesO
11.2.2.4 Robotics AM Extended Server Facet

Table 126 defines a Facet that describes the Robotics AM Extended Server Facet.

Table 126 – Robotics AM Extended Server Facet
Group Conformance Unit / Profile Title Mandatory / Optional
RoboticsRob MotionDeviceSystem BaseM
RoboticsRob MotionDevice AM ExtendedM
RoboticsRob MotionDevice FlangeloadO
RoboticsRob TC RelationshipO
RoboticsRob Axis AM ExtendedM
RoboticsRob Axis AdditionalLoadO
RoboticsRob PowerTrain AM ExtendedM
RoboticsRob Gear AM ExtendedM
RoboticsRob Emergency Stop FunctionO
RoboticsRob Protective Stop FunctionO
RoboticsRob Controller AM ExtendedM
RoboticsRob TC MD RelationshipO
RoboticsRob Program File DirectoryO
RoboticsRob Task Control ModulesO
11.2.2.5 Robotics CM Extended Server Facet

Table 127 defines a Facet that describes the Robotics CM Extended Server Facet.

Table 127 – Robotics CM Extended Server Facet
Group Conformance Unit / Profile Title Mandatory / Optional
RoboticsRob MotionDeviceSystem BaseM
RoboticsRob MotionDevice CM ExtendedM
RoboticsRob Axis CM ExtendedM
RoboticsRob PowerTrain CM ExtendedM
RoboticsRob Gear CM ExtendedM
RoboticsRob Controller CM ExtendedM
RoboticsRob System MonitorO
RoboticsRob System EventsO
RoboticsRob System IdleSubstateO
RoboticsRob System ExecutingSubstateO
RoboticsRob Task Control CM ExtendedM
RoboticsRob Task Control MonitorO
RoboticsRob RobAckCondInstanceO