ControllerType 
The ControllerType describes the control unit of motion devices. One motion device system can have one or more instances of the ControllerType.
The representation of the ControllerType ObjectType in the address space is shown in the following table:
| Name | Attribute |
|---|---|
| NodeId | ns=1;i=1003 |
| NamespaceUri | http://opcfoundation.org/UA/Robotics/ |
| BrowseName | ControllerType |
| NodeClass | ObjectType |
| IsAbstract | False |
| SubtypeOf | ComponentType |
The references from the ControllerType ObjectType Node are shown in the following table:
| Reference | NodeClass | BrowseName | DataType | TypeDefinition | ModellingRule |
|---|---|---|---|---|---|
| HasComponent | Object | ParameterSet | BaseObjectType | Optional | |
| HasProperty | Variable | Manufacturer | LocalizedText | PropertyType | Mandatory |
| HasProperty | Variable | Model | LocalizedText | PropertyType | Mandatory |
| HasProperty | Variable | ProductCode | String | PropertyType | Mandatory |
| HasProperty | Variable | SerialNumber | String | PropertyType | Mandatory |
| HasComponent | Object | CurrentUser | UserType | Mandatory | |
| HasComponent | Object | Components | FolderType | Optional | |
| HasComponent | Object | Software | FolderType | Mandatory | |
| HasComponent | Object | TaskControls | FolderType | Mandatory | |
| HasSafetyStates | Object | <SafetyStatesIdentifier> | SafetyStateType | OptionalPlaceholder | |
| Controls | Object | <MotionDeviceIdentifier> | MotionDeviceType | OptionalPlaceholder |