1 Scope

This document provides a comprehensive overview of the information model structure of transport and dumping equipment defined in the OPC UA Companion Specification Mining. As mentioned in OPC 40560, this machine and system category-level document contains parent types and common features of machines, equipment, systems and services that are classified as transport and dumping equipment or systems.

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 40001-1, OPC Unified Architecture – UA CS for Machinery Part 1 – Basic Building Blocks

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

OPC 40560, OPC Unified Architecture for Mining - General

http://opcfoundation.org/UA/Mining/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 40563-1 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 and OPC 40560 apply.

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

3.2 Conventions used in this document

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

4 General information to 40563-1: T&D General

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.

4.2 Introduction to OPC Unified Architecture

The Transport and Dumping Equipment General document, OPC 40563-1, serves as an abstraction layer to all machines and systems that are classified as transport and dumping equipment or systems. Therefore, it contains parent types and common features that are shared by two or more transport or dumping equipment or systems. Documents detailing the transport and dumping equipment or systems, that are part of the OPC 40563 multi-part documents, are given in Table 1.

This document contains common OPC UA type definitions to all transport and dumping equipment and systems.

5 OPC UA ObjectTypes

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.

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

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

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 );
	  

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 );
	  

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 );

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 );

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 );

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 );
	  

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 );
	  

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 );
	  

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.

6 Profiles and Conformance Units

This chapter defines the corresponding profiles and conformance units for the OPC UA Information Model for OPC 40563-1. 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 40563-1 Information Model companion specification.

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

6.1 Conformance Units

Table 21 defines the corresponding ConformanceUnits for the OPC UA Information Model for OPC 40563-1: Transport and Dumping General.

6.2 Profiles

6.2.1 Profile list

Table 22 lists all Profiles defined in this document and defines their URIs.

6.2.2 Server Facets

6.2.2.1 Overview

The following sections specify the Facets available for Servers that implement the OPC 40563-1: Transport and Dumping General companion specification.

6.2.2.2 Transport and Dumping General Core Server Facet

Table 23 defines a Profile that describes the base characteristics for an OPC UA Server that has implemented the OPC 40563-1 Information Model.

6.2.3 Client Facets

6.2.3.1 Overview

The following tables specify the Facets available for Clients that implement the OPC 40563-1: OPC UA for Mining - Transport Dumping - General companion specification.

6.2.3.2 Transport and Dumping General Core Client Facet

Table 24 defines a Facet that describes the base characteristics for an OPC UA Client querying an OPC UA Server that has implemented the OPC 40563-1 Information Model.

7 Namespaces

7.1 Namespace Metadata

Table 25 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.

7.2 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 26 provides a list of mandatory and optional namespaces used in an OPC 40563-1 OPC UA Server.

Table 27 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.

8 (normative)OPC 40563-1 Namespace and mappings

Namespace and identifiers for OPC 40563-1 Information Model

This appendix defines the numeric identifiers for all of the numeric NodeIds defined in this specification. 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 is:

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

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

http://opcfoundation.org/UA/schemas/Mining/TransportDumping/General/1.0.0/NodeIds.csv

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

http://opcfoundation.org/UA/schemas/Mining/TransportDumping/General/NodeIds.csv

A computer processible version of the complete Information Model defined in this document 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 specification (including any revisions, amendments or errata) can be found here:

http://opcfoundation.org/UA/schemas/Mining/TransportDumping/General/1.0.0/opc.ua.mining.transportdumping.general.nodeset2.xml

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

http://opcfoundation.org/UA/schemas/Mining/TransportDumping/General/opc.ua.mining.transportdumping.general.nodeset2.xml

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