TaskControlType ObjectType Definition – OPC UA for Robotics

7.21 TaskControlType ObjectType Definition

7.21.1 Overview

TaskControlType represents instances of task controls of a controller and is formally defined in Table 100.

The task control describes an execution engine that loads and runs task programs. One task runs one task program at the time. The system should instantiate the maximum allowed number of task controls.

7.21.2 TaskControlType definition

Table 100 – TaskControlType Definition

Attribute	Value
BrowseName	TaskControlType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of the ComponentType defined in OPC Unified Architecture for Devices (DI)
0:HasProperty	Variable	2:ComponentName	0:LocalizedText	0:PropertyType	M
0:HasComponent	Object	2:ParameterSet		0:BaseObjectType	M
Controls	Object	<MotionDeviceIdentifier>		MotionDeviceType	OP
0:HasAddIn	Object	TaskControlOperation		TaskControlOperationType	O
0:HasComponent	Object	TaskModules		0:FolderType	O

Conformance Units
Rob Task Control CM Extended
Rob Task Control Monitor
Rob Task Control Operation
Rob Task Control Modules
Rob MotionDeviceSystem Base

Table 101 – TaskControlType Additional Subcomponents

Source Path	Reference	NodeClass	BrowseName	DataType	TypeDefinition	Others
2:ParameterSet	0:HasComponent	Variable	TaskProgramName	0:String	0:BaseDataVariableType	M
2:ParameterSet	0:HasComponent	Variable	TaskProgramLoaded	0:Boolean	0:BaseDataVariableType	M
2:ParameterSet	0:HasComponent	Variable	ExecutionMode	ExecutionModeEnumeration	0:BaseDataVariableType	O
TaskModules	0:Organizes	Object	<TaskModule>		TaskModuleType	OP

The ComponentName property provides a user writeable name provided by the vendor, integrator, or user of the device. The ComponentName of the TaskControlType provides a customer given identifier for the task control or a default name given by the vendor. This property is derived from ComponentType defined in OPC 10000-100.

Object TaskModules is a folder of TaskModuleType (see 7.22) instances that provides more information about the loaded task modules.

Description of ParameterSet of TaskControlType:

Variable TaskProgramName: The TaskProgramName variable provides a customer given identifier for the task program.

Variable TaskProgramLoaded: The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise.

Variable ExecutionMode: The ExecutionMode variable tells how the task control executes the task program (see 10.3).

Controls is a reference to provide the relationship between a task control and a motion device. The InverseName is IsControlledBy.