HaulageMachineType ObjectType Definition – OPC UA for Mining - Transport Dumping

5.1 HaulageMachineType ObjectType Definition

5.1.1 Overview

The HaulageMachineType provides a representation of haulage machines and is a subtype of the MiningEquipmentType as shown in Figure 1. Importantly, it is composed of a ParameterSet and MethodSet Object instance declaration to cover all relevant parameters of the equipment. Intended to be used as an AddIn, as defined in OPC 10001-7, this ObjectType can serve as a type definition of an Object instance declaration called HaulingMachine.

5.1.2 ObjectType Definition

The HaulageMachineType is formally defined in Table 2.

Table 2 – HaulageMachineType Definition

Attribute	Value
BrowseName	HaulageMachineType
IsAbstract	False

References	Node Class	BrowseName	DataType	TypeDefinition	Other
Subtype of the MiningEquipmentType defined in OPC 40560, i.e. inheriting the InstanceDeclarations of that Node.
0:HasProperty	Variable	DefaultInstanceBrowseName	0:QualifiedName	0:PropertyType
0:HasComponent	Object	2:MethodSet		0:BaseObjectType	O
0:HasComponent	Object	2:ParameterSet		0:BaseObjectType	O

Conformance Units
Transport and Dumping General Functional Variables
Transport and Dumping General Methods

The components of the HaulingMachineType have Subcomponents which are defined in Table 3.

Table 3 – HaulageMachineType Subcomponents

BrowsePath	References	NodeClass	BrowseName	DataType	TypeDefinition	Others
2:MethodSet	0:HasComponent	Method	ClearSpot			O
2:MethodSet	0:HasComponent	Method	JoinQueue			O
2:MethodSet	0:HasComponent	Method	LoadingComplete			O
2:MethodSet	0:HasComponent	Method	SetQueuePriority			O
2:MethodSet	0:HasComponent	Method	StartPositioning			O
2:MethodSet	0:HasComponent	Method	StartUnloading			O
2:MethodSet	0:HasComponent	Method	StopPositioning			O
2:MethodSet	0:HasComponent	Method	StopUnloading			O
2:ParameterSet	0:HasComponent	Variable	AsymmetryLoad	0:Double	0:AnalogUnitRangeType	O, RO
2:ParameterSet	0:HasComponent	Variable	MachinePose	0:3DFrame	0:3DFrameType	O, RO
2:ParameterSet	0:HasComponent	Variable	MachineShape	0:3DCartesianCoordinates[]	0:3DCartesianCoordinatesType	O, RO
2:ParameterSet	0:HasComponent	Variable	PayloadCapacity	0:Double	0:AnalogUnitRangeType	O, RO
2:ParameterSet	0:HasComponent	Variable	TailHeight	0:3DFrame	0:3DFrameType	O, RO

The components of the HaulageMachineType have additional Attributes which are defined in Table 4.

Table 4 – HaulageMachineType Attribute values for child Nodes

BrowsePath	Value Attribute	Description Attribute
	NamespaceUri: http://www.opcfoundation.org/UA/units/un/cefact UnitId: 5525061 DisplayName: t Description: tonne (metric ton)	This is the EngineeringUnit of the current payload.
	High: 200 Low: 0	This is the EURange of the current payload.
	NamespaceUri: http://www.opcfoundation.org/UA/units/un/cefact UnitId: 5525061 DisplayName: t Description: tonne (metric ton)	This is the EngineeringUnit of the payload capacity.
	High: 200 Low: 0	This is the EURange of the payload capacity.
	NamespaceUri: http://www.opcfoundation.org/UA/units/un/cefact UnitId: 20529 DisplayName: % Description: percent	This is the EngineeringUnit of the asymmetric load indicator.
	High: 100 Low: 0	This is the EURange of the asymmetric load indicator.

5.1.3 ClearSpot Method

The signature of this Method is specified below. The following table specifies specify the Arguments and AddressSpace representation, respectively.

Signature

	ClearSpot(
	
	  [out] 0:Boolean       ClearSpotAcknowledged );

Table 5 – ClearSpot Method Arguments

Argument

Description

ClearSpotAcknowledged

The ClearSpotAcknowledged property describes the acknowledging of a clear spot for the equipment within the queue.

True – OK

False – ClearError – Spot could not be cleared

Table 6 – ClearSpot Method AddressSpace definition

Attribute	Value
BrowseName	ClearSpot

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.4 JoinQueue Method

The signature of this Method is specified below. The following table specifies specify the Arguments and AddressSpace representation, respectively.

Signature

	JoinQueue(
	  [in]  0:UInt16		QueuePriority,
	  [out] 0:Boolean		JoinQueueAcknowledged );

Table 7 – JoinQueue Method Arguments

Argument

Description

QueuePriority

The QueuePriority property describes the priority of the hauling machine within a waiting queue.

JoinQueueAcknowledged

The JoinQueueAcknowledged property describes the acknowledging of the equipment to join the queue.

True – OK

False – JoinError – Queue could not be joined

Table 8 – JoinQueue Method AddressSpace definition

Attribute	Value
BrowseName	JoinQueue

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:InputArguments	0:Argument[]	0:PropertyType	0:Mandatory
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.5 LoadingComplete Method

The signature of this Method is specified below. The following table specifies specify the Arguments and AddressSpace representation, respectively.

Signature

	LoadingComplete(
	
	  [out] 0:Boolean		LoadingCompleteAcknowledged );

Table 9 – LoadingComplete Method Arguments

Argument

Description

LoadingCompleteAcknowledged

The LoadingCompleteAcknowledged property describes the acknowledging of the loading completion.

True – OK

False – LoadingError – Loading could not be completed

Table 10 – LoadingComplete Method AddressSpace definition

Attribute	Value
BrowseName	LoadingComplete

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.6 SetQueuePriority Method

The signature of this Method is specified below. The following table specifies specify the Arguments and AddressSpace representation, respectively.

Signature

	SetQueuePriority(
	  [in]  0:Boolean		QueuePriority,
	  [out] 0:Boolean		SetPriorityAcknowledged );

Table 11 – SetQueuePriority Method Arguments

Argument

Description

QueuePriority

The QueuePriority property describes the priority of the hauling machine within a waiting queue.

SetPriorityAcknowledged

The SetPriorityAcknowledged property describes the acknowledging of the set priority for the equipment.

True – OK

False – SetError – Priority could not be set.

Table 12 – SetQueuePriority Method AddressSpace definition

Attribute	Value
BrowseName	SetQueuePriority

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:InputArguments	0:Argument[]	0:PropertyType	0:Mandatory
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.7 StartPositioning Method

The signature of this Method is specified below. The following table specifies specify the Arguments and AddressSpace representation, respectively.

Signature

	StartPositioning(
	  [in]  0:3DFrame		TargetPose,
	  [out] 0:Boolean		PositioningStartAcknowledged );

Table 13 – StartPositioning Method Arguments

Argument

Description

TargetPose

The TargetPose property describe the coordinates and orientation a haulage machine should navigate to in order to position itself for loading.

PositioningStartAcknowledged

The PositioningStartAcknowledged property describes the acknowledging of the started positioning command for the equipment.

True – OK

False – StartError – Positioning could not be started.

Table 14 – StartPositioning Method AddressSpace definition

Attribute	Value
BrowseName	StartPositioning

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:InputArguments	0:Argument[]	0:PropertyType	0:Mandatory
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.8 StartUnloading Method

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

Signature

	StartUnloading(
	
	  [out] 0:Boolean		UnloadingStartAcknowledged );

Table 15 – StartUnloading Method Arguments

Argument

Description

UnloadingStartAcknowledged

The UnloadingStartAcknowledged property describes the acknowledging of the starting unloading command.

True – OK

False – StartError – Unloading could not be started.

Table 16 – StartUnloading Method AddressSpace definition

Attribute	Value
BrowseName	StartUnloading

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.9 StopPositioning Method

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

Signature

	StopPositioning(
	
	  [out] 0:Boolean		PositioningStopAcknowledged );

Table 17 – StopPositioning Method Arguments

Argument

Description

PositioningStopAcknowledged

The PositioningStopAcknowledged property describes the acknowledging of the stopping positioning command.

True – OK

False – StopError – Positioning could not be stoped.

Table 18 – StopPositioning Method AddressSpace definition

Attribute	Value
BrowseName	StopPositioning

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.10 StopUnloading Method

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

Signature

	StopUnloading(
	
	  [out] 0:Boolean		UnloadingStopAcknowledged );

Table 19 – StopUnloading Method Arguments

Argument

Description

UnloadingStopAcknowledged

The UnloadingStopAcknowledged property describes the acknowledging of the stopping unloading command.

True – OK

False – StopError – Unloading could not be stoped.

Table 20 – StopUnloading Method AddressSpace definition

Attribute	Value
BrowseName	StopUnloading

References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule
0:HasProperty	Variable	0:OutputArguments	0:Argument[]	0:PropertyType	0:Mandatory

5.1.11 ObjectType Description

The ClearSpot method call indicates the clearing of the spot within the queue.

The JoinQueue method call indicates the joining of the waiting/spotting queue of the hauling machine.

The LoadingComplete method call indicates the completion of the loading process.

The SetQueuePriority method call sets the queue priority of the hauling machine.

The StartPositioning method call indicates the start of the positioning process.

The StartUnloading method call indicates the start of the unloading process.

The StopPositioning method call indicates the end of the positioning process.

The StopUnloading method call indicates the end of the unloading process.

The AsymmetryLoad variable describes the asymmetry of the load on the truck-bed.

The CurrentPayload variable describes the current payload of the hauling machine.

The MachinePose variable describes the pose of the hauling machine in terms of location coordinates, orientation and (optional) base frame.

The MachineShape variable describes the hauling machine’s shape in terms of width, height and length. As this variable is an array, it can contain multiple shapes such as a shape for the truck-bed or for the cabin.

The MachineVelocity variable describes the hauling machine’s velocity in terms of magnitude and direction.

The PayloadCapacity variable describes the payload capacity of the hauling machine.

The TailHeight variable measures the tail height of the hauling machine.