1 Scope

This document provides a comprehensive overview of the information model structure of rear dump truck 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 rear dump truck 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 40563-1, OPC Unified Architecture for Mining – Transport and Dumping Equipment: General

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

3 Terms, definitions and conventions

3.1 Overview

It is assumed that basic concepts of OPC UA information modelling 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 40563-3 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 40563-1 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, OPC 40560 and OPC 40563-1 apply.

4 General information to OPC 40563-3: Rear Dump Truck

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 40563-1.

4.2 Introduction to Rear Dump Truck Equipment

In the field of mining, rear dump trucks are commonly used for hauling and dumping purposes. This equipment class can be sorted into three categories. The rigid-body rear dump trucks and the articulated rear dump trucks which both are used in underground as well as in surface mining setups. The machine design differs depending on the type of setup. Trucks for underground use are mostly constructed with a low-profile design. Furthermore tractor–trailer units with separately powered trailers and the ability of side-dumping can be used as an underground road train. [1, P. 1147]

This document contains OPC UA type definitions for all categories of rear dump trucks.

5 Use Cases and Scope of Information Exchange

The Use Cases of the rear dump truck machine within the context of load-and-haul operation are explained in detail in OPC 40569-2 and OPC 40569-3. Please refer to this document to see an overview of the Use Cases for this machine as well as descriptions.

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 Discontinuous Loading and Discontinuous Unloading by a Specialist Working Group. The Use Cases of the Rear Dump Truck, within the context of loading and hauling in surface mining, are explained in detail in OPC 40569-2 and OPC 40569-3. Please refer to this document to gain an overview of the 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 Rear Dump Truck only contain the minimum amount of data elements, such as variables and methods, necessary for the Use Cases described in OPC 40569-2 and OPC 40569-3. 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 Rear Dump Truck and parameters of the Rear Dump Truck that are required by other machines interacting with the Rear Dump Truck as defined in OPC 40569-2 and OPC 40569-3. These include, for example:

Payload

Machine pose

Velocity

A precise overview of the data contained in the OPC 40563-2 Information Model is given in Chapter 6.

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) 

Some tele-remote control signals (e.g. start, stop)

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

Custom state machines

6 OPC UA ObjectTypes

6.1 RearDumpTruckType ObjectType Definition

6.1.1 Overview

The RearDumpTruckType provides a representation of a rear dump truck machine and is a sub-type of the MiningEquipmentType as shown in Figure 1. The Information Model of the rear dump truck machine uses compositional modelling, see OPC 10001-7, to make use of the HaulingMachineType defined in OPC 40563-1. The instance declarations of the HaulingMachineType are repeated in Figure 1 for better readability.

6.1.2 ObjectType Definition

The RearDumpTruckType is formally defined in Table 1.

6.1.3 ObjectType Description

The HaulageMachine Object is an AddIn of the HaulageEquipmentType defined in OPC 40563-1. Therefore, it semantically represents the haulage machine feature of the RearDumpTruckType.

Please refer to OPC 10000-100, OPC 40001-1, OPC 40560 and OPC 40563-1 for the descriptions of other inherited instance declarations.

7 Profiles and Conformance Units

This chapter defines the corresponding profiles and conformance units for the OPC UA Information Model for OPC 40563-3. 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 40563-3 Information Model companion specification.

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

7.1 Profiles

7.1.1 Profile list

Table 2 lists all Profiles defined in this document and defines their URIs.

7.1.2 Server Facets

7.1.2.1 Overview

The following sections specify the Facets available for Servers that implement the OPC 40563-3: OPC UA for Mining - Transport Dumping - Rear Dump Truck Companion Specification. Each section defines and describes a Facet or Profile.

7.1.2.2 Rear Dump Truck Base Server Profile

Table 3 defines a Profile that describes the functionalities of an OPC UA Server that is used to serve OPC UA CS Mining Information Models. Servers complying to this Profile can be used to serve OPC UA CS Mining Information Models.

The Mining Base Server Profile is defined in OPC 40560. The Transport and Dumping General Core Server Facet is defined in OPC 40563-1.

7.1.3 Client Facets

7.1.3.1 Overview

The following tables specify the Facets available for Clients that implement the OPC 40563-3 Companion Specification.

7.1.3.2 Rear Dump Truck Base Client Profile

Table 4 defines a Profile that describes the functionalities of an OPC UA Client that is used to query OPC UA CS Mining Information Models. Clients complying to this Profile can be used to query OPC UA CS Mining Information Models.

The Mining Base Client Facet is defined in OPC 40560. The Transport and Dumping General Core Client Facet is defined in OPC 40563-1.

8 Namespaces

8.1 Namespace Metadata

Table 5 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.

8.2 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 6 provides a list of mandatory and optional namespaces used in an OPC 40563-3 OPC UA Server.

Table 7 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.

9 (normative)OPC 40563-3 Namespace and mappings

Namespace and identifiers for OPC 40563-3 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/RearDumpTruck/

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

http://opcfoundation.org/UA/schemas/Mining/TransportDumping/RearDumpTruck/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/RearDumpTruck/1.0.0/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/RearDumpTruck/1.0.0/opc.ua.mining.transportdumping.reardumptruck.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/Mining/schemas/TransportDumping/RearDumpTruck/opc.ua.mining.transportdumping.reardumptruck.NodeSet2.xml

Annex A nnex B Bibliography (Informative)

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

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