TaskControlType definition – OPC UA for Robotics

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.