Annex B (informative) Examples ToC Previous

B.1 Examples of motion device systems, motion devices, axes and power trains ToC Previous

B.1.9 Representations of exemplary server implementations ToC Previous

This chapter descripes different examples for the usage of DriveType or a SubType of ComponentType defined in OPC UA DI inclusive the references described in this specification.

All views show only the instances and references necessary to better illustrate the examples described.

B.1.9.1 ObjectTypes and references used with DriveType instances ToC

Figure B. describes the usage of DriveType as an instance of a single-slot drive regarding the manipulator showed Figure B.9 on the left side.

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Figure B.14 – IsDrivenby references to DriveType instances

B.1.9.2 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for drive-channels ToC

Figure B. describes the usage of slots or channels of a multi-slot-drive. The instance ot the slot is a vendor specific subtype of BaseObjectType.

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Figure B.15 – IsDrivenby references to vendor specific subtypes of BaseObjectType instances

B.1.9.3 ObjectTypes and references used with instances DriveType for drives with drive-channels ToC

Figure B. describes the usage of DriveType for a multi-slot-drive if deeper information of slot definition is not available.

It is allowed that several instances of MotorType reference IsDrivenBy to one multi-slot-drive.

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Figure B.16 – IsDrivenby references to DriveType instances for mulit-slot drives w/o slots

B.1.9.4 ObjectTypes and references used with instances of vendor specific subtypes of BaseObjectType for motor-integrated-drives ToC

Figure B. describes the usage with a motor-integrated-drive as one physical device. The instance MyDrive is a vendor specific subtype of BaseObjectType. Identification properties of this physical device shall be defined within the referenced MotorType.

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Figure B.17 – IsDrivenby used with motor-integrated-drives

B.1.9.5 Abstract example of a six-axis robot with master-slave axis and drive-slots ToC

Figure B. describes an example view on a server with the instances of ObjectTypes and references of a six-axis robot with master-slave axis and drive-slots described in Annex B.1.8.2.

If a master-slave configuration only has one gear this shall be placed inside the master-power-train.

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Figure B.18 – View on a six-axis robot with master-slave and drive-slots

B.1.9.6 Abstract example of a motion device system with three motion devices ToC

Figure B. describes an example view on a server with the instances of ObjectTypes and references of a motion device system consisting of a six-axis robot, a linear unit and a turn-table which are controlled by one controller.

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Figure B.19 – View on a motion device system with 3 motion devices controlled by one controller

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