1 Scope

This document provides a comprehensive overview of the information model structure of shearer loader machines defined in this OPC UA Companion Specification Mining. As mentioned in OPC 40560, this machine and system-level document contains type definitions for a specific type of machine, equipment, system or service – the shearer loader machine in this case.

2 Normative references

The following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments and errata) applies

OPC 10000-1, OPC Unified Architecture - Part 1: Overview and Concepts

OPC 10000-1

OPC 10000-2, OPC Unified Architecture - Part 2: Security Model

OPC 10000-2

OPC 10000-3, OPC Unified Architecture - Part 3: Address Space Model

OPC 10000-3

OPC 10000-4, OPC Unified Architecture - Part 4: Services

OPC 10000-4

OPC 10000-5, OPC Unified Architecture - Part 5: Information Model

OPC 10000-5

OPC 10000-6, OPC Unified Architecture - Part 6: Mappings

OPC 10000-6

OPC 10000-7, OPC Unified Architecture - Part 7: Profiles

OPC 10000-7

OPC 10000-100, OPC Unified Architecture - Part 100: Devices

OPC 10000-100

OPC 40001-1, OPC UA for Machinery - Part 1: Basic Building Blocks

http://www.opcfoundation.org/UA/Machinery/

OPC 40560, OPC Unified Architecture for Mining - General

http://opcfoundation.org/UA/Mining/General/

OPC 40561-1, OPC Unified Architecture for Mining – Extraction Equipment: General

http://opcfoundation.org/UA/Mining/Extraction/General/

3 Terms, definitions and conventions

3.1 Overview

It is assumed that basic concepts of OPC UA information modelling from OPC 10000-1, OPC 10000-100 and OPC 40001‑1 are understood in this document. This document will use these concepts to describe the OPC 40561-2 Information Model. For the purposes of this document, the terms and definitions given in the documents referenced in the OPC Core documents, OPC 10000-1, OPC 10000-100, OPC 40001-1, OPC 40560 and OPC 40561-1 apply.

Note that OPC UA terms and terms defined in this specification are italicized in the specification.

3.2 Abbreviated terms

3.3 Conventions used in this document

The conventions and definitions described in the OPC Core documents, OPC 10000-1, OPC 10000-100, OPC 40001-1, OPC 40560, OPC 40569-1 and OPC 40561-1 apply.

4 General information to OPC 40561-2: Shearer Loader

4.1 Introduction to the OPC UA Companion Specification Mining

For general information on the OPC UA Companion Specification Mining and OPC UA in general, please refer to OPC 40560.

As explained in OPC 40560, the machine and system category-level documents serve as an abstraction layer for the types of machinery with similar functionalities. Consequently, this machine and system-level document may also rely on models defined in OPC 40561-1.

4.2 Introduction to the Shearer Loader Machine

In longwall mining operations, a Shearer Loader, Armoured Face Conveyor, Roof Support System and other components are assembled before longwall mining begins. The Shearer Loader is the main excavation device within longwall mining. Shearers usually use double drum systems with height-adjustable arms. They can be used in seams with a height between 1.5 metres (5 ft.) up to above 6 metres (20 ft.). The drum diameter is typically sized between 0.5 to 0.6 to the size of the coal seam to be extracted. During operation, the Shearer Loader moves bidirectionally along the coal face. After extraction, the coal falls onto the AFC and is transported to the main belt conveyor or alternative transport devices. After the extraction by the Shearer Loader, the Roof Support Shields follow the Shearer Loader and close the new gap at the roof. The RSS advances the AFC to allow the repetition of the cutting cycle. [1, P. 427]

This document contains OPC UA type definitions for the Shearer Loader machine.

5 Use Cases and Scope of Information Exchange

As outlined in OPC 40560, OPC UA type definitions and data items contained in this OPC UA Companion Specification are based on the Use Cases developed for the Application Case Longwall Operation by a Specialist Working Group. The Use Cases of the Shearer Loader machine, within the context of underground longwall operation, are explained in detail in OPC 40569-1. Please refer to this document to gain an overview of longwall mining Use Cases for this machine as well as to study detailed descriptions of the Use Cases.

As a core feature, OPC UA offers the possibility to extend and complement type definitions. Therefore, the type definitions developed for the Shearer Loader machine only contain the minimum amount of data elements, such as variables and methods, necessary for the Use Cases described in OPC 40569-1. Manufacturers and mine operators are advised to extend the type definitions defined in this document, e.g. using inheritance, to adapt the type definitions to their individual requirements. This typically includes adding custom variables or alarms to type definitions derived from the ones specified in this document.

Thus, the scope of this document is to define the basic elements of data that are necessary for operation of the Shearer Loader and parameters of the Shearer Loader that are required by other longwall components as defined in OPC 40569-1. These include, for example:

Machine dimensions (e.g. drum diameter) 

Current floor and roof offsets

Target floor and roof offsets   

Position and movement direction of the Shearer Loader

A precise overview of the data contained in the OPC 40561-2 Information Model is given in Chapter 7.

The following information sources are excluded and may be added by manufacturers or mine operators using custom type definitions derived from the ones presented in this document:

Real-time sensor data (e.g. temperature, pressure, current) 

Tele-remote control signals (e.g. start, stop, tram)

Alarms and events (e.g. current tripping alarm, temperature warning)

Custom state machines

6 Shearer Loader Information Model Overview

The ShearerLoaderType and ShearerLoaderDrumType are subtypes of the MiningEquipmentType defined in OPC 40560 and represent components of a Shearer Loader machine as part of a longwall shearer system. Importantly, the Shearer Loader machine is composed of one instance of the ShearerLoaderType, acting as a container type, and one or more instances of the ShearerLoaderDrumType, which are understood to be subcomponents of the container type. Figure 1 shows the hierarchical and compositional structure of the AddressSpace of these ObjectTypes.

7 OPC UA ObjectTypes

7.1 ShearerLoaderType ObjectType

7.1.1 Overview

The ShearerLoaderType provides a representation of a shearer loader machine and is a sub-type of the MiningEquipmentType as shown in Figure 2. Importantly, it contains a MethodSet and ParameterSet to monitor and control all relevant parameters of the equipment.

7.1.2 ObjectType Definition

The ShearerLoaderType is formally defined Table 1.

The components of the ShearerLoaderType have Subcomponents which are defined in Table 2.

7.1.3 SetFloorOffset Method

7.1.3.1 Untitled

The signature of this Method is specified below. Table 4 specifies the Arguments and AddressSpace representation, respectively.

Signature

	SetFloorOffset(
	  [in]  0:Int16	StartShield,
	  [in]  0:Int16	EndShield,  [in]  0:Double	FaceOffset,
	
	  [out] 0:Boolean	FloorOffsetResult );
	  

7.1.4 SetRoofOffset Method

7.1.4.1 Untitled

The signature of this Method is specified below. Table 6 specifies the Arguments and AddressSpace representation, respectively.

Signature

	SetRoofOffset(
	  [in]  0:Int16	StartShield,
	  [in]  0:Int16	EndShield,  [in]  0:Double	FaceOffset,
	
	  [out] 0:Boolean	RoofOffsetResult );
	

7.1.5 ObjectType Description

The SetFloorOffset method indicates the setting of the FloorOffset of the Shearer Loader.

The SetRoofOffset method indicates setting of the RoofOffset of the Shearer Loader.

The DrivingDirection variable indicates the direction in which the Shearer Loader is driving.

The FloorOffset variable describes a list of the current floor offset per shield.

The MaxLength variable indicates the maximum machine length including extracted drums.

The Position variable indicates the current position of the Shearer Loader in relation to the center of the Shearer Loader.

The RoofOffset variable describes a list of the current roof offset per shield.

Please refer to OPC 10000-100, OPC 40001-1, OPC 40560 and OPC 40561-1 for the descriptions of other inherited instance declarations.

7.2 ShearerLoaderDrumType ObjectType

7.2.1 Overview

The ShearerLoaderDrumType provides a representation of shearer drums within the MiningEquipmentType as shown in Figure 3. Importantly, it is composed of a ParameterSet Object instance declaration to cover all relevant parameters of the equipment.

7.2.2 ObjectType Definition

The ShearerLoaderDrumType is formally defined in Table 8.

The components of the ShearerLoaderType have additional subcomponents which are defined in Table 9.

The component Variables of the ShearerLoaderDrumType have additional Attributes defined in Table 10.

7.2.3 ObjectType Description

The DrumDiameter variable describes the drum's diameter.

The DrumHeight variable describes the drum's current height as measured from the center of the Shearer Loader.

The MountingPosition property describes the drum's mounting position on the Shearer Loader.

Please refer to OPC 10000-100, OPC 40001-1, OPC 40560 and OPC 40561-1 for the descriptions of other inherited instance declarations.

8 OPC UA DataTypes

8.1 ShearerDirectionEnum

The enumeration ShearerDirectionEnum is formally defined in Table 11.

Its representation in the AddressSpace is defined in Table 12.

8.2 ShearerDrumMountingPositionEnum

The enumeration ShearerDrumMountingPositionEnum is formally defined in Table 13.

Its representation in the AddressSpace is defined in Table 14.

9 Profiles and Conformance Units

This chapter defines the corresponding profiles and conformance units for the OPC UA Information Model for OPC 40561-2. Profiles are named groupings of conformance units. Facets are profiles that will be combined with other Profiles to define the complete functionality of an OPC UA Server or Client. The following tables specify the facets available for Servers that implement the OPC 40561-2 Information Model companion specification.

NOTE: The names of the supported profiles are available in the Server Object under ServerCapabilities.ServerProfileArray

9.1 Conformance Units

Table 15 defines the corresponding Conformance Units for the OPC UA Information Model for OPC 40561-2: Shearer Loader.

9.2 Profiles

9.2.1 Profile list

Table 16 lists all Profiles defined in this document and defines their URIs.

9.2.2 Server Facets

9.2.2.1 Overview

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

9.2.2.2 Shearer Loader Core Server Facet

Table 17 defines a Profile that describes the base characteristics for an OPC UA Server that has implemented the OPC 40561-2 Information Model.

The Mining Base Server Profile is defined in OPC 40560.

9.2.3 Client Facets

9.2.3.1 Overview

The following tables specify the Facets available for Clients that implement the OPC 40561-2: OPC UA for Mining - Extraction - Shearer Loader companion specification.

9.2.3.2 Shearer Loader Core Client Facet

Table 18 defines a Facet that describes the base characteristics for an OPC UA Client querying an OPC UA Server that has implemented the OPC 40561-2 Information Model.

The Mining Base Client Profile is defined in OPC 40560.

10 Namespaces

10.1 Namespace Metadata

Table 19 defines the namespace metadata for this document. The Object is used to provide version information for the namespace and an indication about static Nodes. Static Nodes are identical for all Attributes in all Servers, including the Value Attribute. See OPC 10000-5 for more details.

The information is provided as Object of type NamespaceMetadataType. This Object is a component of the Namespaces Object that is part of the Server Object. The NamespaceMetadataType ObjectType and its Properties are defined in OPC 10000-5.

The version information is also provided as part of the ModelTableEntry in the UANodeSet XML file. The UANodeSet XML schema is defined in OPC 10000-6.

Note: The IsNamespaceSubset Property is set to False as the UaNodeSet XML file contains the complete Namespace. Servers only exposing a subset of the Namespace need to change the value to True.

10.2 Handling of OPC UA Namespaces

Namespaces are used by OPC UA to create unique identifiers across different naming authorities. The Attributes NodeId and BrowseName are identifiers. A Node in the UA AddressSpace is unambiguously identified using a NodeId. Unlike NodeIds, the BrowseName cannot be used to unambiguously identify a Node. Different Nodes may have the same BrowseName. They are used to build a browse path between two Nodes or to define a standard Property.

Servers may often choose to use the same namespace for the NodeId and the BrowseName. However, if they want to provide a standard Property, its BrowseName shall have the namespace of the standards body although the namespace of the NodeId reflects something else, for example the EngineeringUnits Property. All NodeIds of Nodes not defined in this document shall not use the standard namespaces.

Table 20 provides a list of mandatory and optional namespaces used in an OPC 40561-2 OPC UA Server.

Table 21 provides a list of namespaces and their indices used for BrowseNames in this document. The default namespace of this document is not listed since all BrowseNames without prefix use this default namespace.

11 (normative)OPC 40561-2 Namespace and mappings

Namespace and identifiers for OPC 40561-2 Information Model

This appendix defines the numeric identifiers for all of the numeric NodeIds defined in this document. The identifiers are specified in a CSV file with the following syntax:

<SymbolName>, <Identifier>, <NodeClass>

Where the SymbolName is either the BrowseName of a Type Node or the BrowsePath for an Instance Node that appears in the specification and the Identifier is the numeric value for the NodeId.

The BrowsePath for an Instance Node is constructed by appending the BrowseName of the instance Node to the BrowseName for the containing instance or type. An underscore character is used to separate each BrowseName in the path. Let’s take for example, the MiningEquipmentType ObjectType Node which has the add-in Identification object. The Name for the Identification InstanceDeclaration within the MiningEquipmentType declaration is: MiningEquipmentType_Identification.

The NamespaceUri for all NodeIds defined here:

http://opcfoundation.org/UA/Mining/Extraction/ShearerLoader/

The CSV released with this version of the specification can be found here:

http://www.opcfoundation.org/UA/schemas/Mining/Extraction/ShearerLoader/1.0/NodeIds.csv

NOTE    The latest CSV that is compatible with this version of the specification can be found here:

http://www.opcfoundation.org/UA/schemas/Mining/Extraction/ShearerLoader/NodeIds.csv

A computer processible version of the complete Information Model defined in this specification is also provided. It follows the XML Information Model schema syntax defined in OPC 10000-6.

The Information Model Schema for this version of the document (including any revisions, amendments or errata) can be found here:

http://www.opcfoundation.org/UA/schemas/Mining/Extraction/ShearerLoader/1.0/opc.ua.mining.extraction.shearerloader.NodeSet2.xml

NOTE    The latest Information Model schema that is compatible with this version of the specification can be found here:

http://www.opcfoundation.org/UA/schemas/Mining/Extraction/ShearerLoader/opc.ua.mining.extraction.shearerloader.NodeSet2.xml

Annex A nnex B Bibliography (Informative)

[1] DARLING, P., 2011. SME Mining Engineering Handbook [online]. 3rd ed.

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