7 OPC UA ObjectTypes ToC Previous Next

7.3 AxisType ObjectType Definition ToC Previous Next

7.3.3 ObjectType description ToC Previous Next

7.3.3.1 Variable AssetId ToC

The AssetId property is a user writable alphanumeric character sequence uniquely identifying a component. The ID is provided by the vendor, integrator or user of the device. It contains typically an identifier in a branch, use case or user specific naming scheme.

This could be for example a reference to an electric scheme. For electric schemes typically EN 81346-2 is used.

The AssetID of the AxisType provides a manufacturer-specific axis identifier within the control system.

This property is defined by ComponentType defined in OPC UA DI.

7.3.3.2 Variable MotionProfile ToC

The MotionProfile property provides the kind of axis motion as defined by the AxisMotionProfileEnumeration.

Table 22 – AxisMotionProfileEnumeration

AxisMotionProfileEnumeration    
EnumString Value Description
OTHER 0 Any motion-profile which is not defined by the AxisMotionProfileEnumeration
ROTARY 1 Rotary motion is a rotation along a circular path with defined limits. Motion movement is not going always in the same direction. Control unit is mainly degree.
ROTARY_ENDLESS 2 Rotary motion is a rotation along a circular path with no limits. Motion movement is going endless in the same direction. Control unit is mainly degree.
LINEAR 3 Linear motion is a one dimensional motion along a straight line with defined limits. Motion movement is not going always in the same direction. Control unit is mainly mm.
LINEAR_ENDLESS 4 Linear motion is a one dimensional motion along a straight line with no limits. Motion movement is going endless in the same direction. Control unit is mainly mm.

7.3.3.3 Variable AdditionalLoad ToC

AdditionalLoad provides data for the load that is mounted on this axis, e.g., a transformer for welding.

7.3.3.4 Objekt ParameterSet ToC

Table 23 – ParameterSet of AxisType

Attribute Value        
BrowseName AxisType        
References Node   Class BrowseName DataType TypeDefinition Modelling   Rule
HasComponent Variable ActualPosition Double AnalogUnitType Mandatory
HasComponent Variable ActualSpeed Double AnalogUnitType Optional
HasComponent Variable ActualAcceleration Double AnalogUnitType Optional

Description of ParameterSet of AxisType:

  • Variable ActualPosition: The ActualPosition variable provides the current position of the axis and may have limits. If the axis has physical limits, the EURange property of the AnalogUnitType shall be provided.
  • Variable ActualSpeed: The ActualSpeed variable provides the axis speed. Applicable speed limits of the axis shall be provided by the EURange property of the AnalogUnitType
  • Variable ActualAcceleration: The ActualAcceleration variable provides the axis acceleration. Applicable acceleration limits of the axis shall be provided by the EURange property of the AnalogUnitType.

    7.3.3.5 Reference Requires ToC

    The Requires reference provides the relationship of axes to power trains. For complex kinematics this does not need to be a one to one relationship, because more than one power train might influence the motion of one axis. This reference connects all power trains to an axis that must be actively driven when only this axis should move and all other axes should stand still.

Virtual axes that are not actively driven by a power train do not have this reference. The InverseName is IsRequiredBy.

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