http://opcfoundation.org/UA/Robotics/
http://opcfoundation.org/UA/DI/
i=1
i=2
i=3
i=4
i=5
i=6
i=7
i=8
i=9
i=10
i=11
i=13
i=12
i=15
i=14
i=16
i=17
i=18
i=20
i=21
i=19
i=22
i=26
i=27
i=28
i=47
i=46
i=35
i=36
i=48
i=45
i=40
i=37
i=38
i=39
http://opcfoundation.org/UA/Robotics/
https://reference.opcfoundation.org/v104/Robotics/v100/docs/9.1
ns=1;i=15034
ns=1;i=15064
ns=1;i=15091
ns=1;i=15114
ns=1;i=15145
ns=1;i=15173
ns=1;i=15209
ns=1;i=15583
ns=1;i=15584
ns=1;i=15585
i=11715
i=11616
NamespaceUri
i=68
ns=1;i=15011
http://opcfoundation.org/UA/Robotics/
NamespaceVersion
i=68
ns=1;i=15011
1.01
NamespacePublicationDate
i=68
ns=1;i=15011
2020-05-20T00:00:00Z
IsNamespaceSubset
i=68
ns=1;i=15011
false
StaticNodeIdTypes
i=68
ns=1;i=15011
0
StaticNumericNodeIdRange
i=68
ns=1;i=15011
StaticStringNodeIdPattern
i=68
ns=1;i=15011
DefaultRolePermissions
i=68
ns=1;i=15011
DefaultUserRolePermissions
i=68
ns=1;i=15011
DefaultAccessRestrictions
i=68
ns=1;i=15011
MotionDeviceSystemType
Contains the set of controllers and motion devices in a closely-coupled motion device system.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
ns=1;i=5002
ns=1;i=5001
ns=1;i=5010
ns=2;i=15063
MotionDevices
Contains any kinematic or motion device which is part of the motion device system.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
ns=1;i=15008
i=61
i=78
ns=1;i=1002
<MotionDeviceIdentifier>
ns=1;i=15024
ns=1;i=15045
ns=1;i=15047
ns=1;i=15053
ns=1;i=15048
ns=1;i=15058
ns=1;i=15062
ns=1;i=15208
ns=1;i=1004
i=11510
ns=1;i=5002
ParameterSet
Flat list of Parameters
ns=1;i=15061
i=58
i=78
ns=1;i=15008
SpeedOverride
SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).
i=63
i=78
ns=1;i=15024
Manufacturer
i=68
i=78
ns=1;i=15008
Model
i=68
i=78
ns=1;i=15008
ProductCode
i=68
i=78
ns=1;i=15008
SerialNumber
i=68
i=78
ns=1;i=15008
MotionDeviceCategory
The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.
i=68
i=78
ns=1;i=15008
Axes
Axes is a container for one or more instances of the AxisType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
i=61
i=78
ns=1;i=15008
PowerTrains
PowerTrains is a container for one or more instances of the PowerTrainType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
i=61
i=78
ns=1;i=15008
Controllers
Contains the set of controllers in the motion device system.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
ns=1;i=15405
i=61
i=78
ns=1;i=1002
<ControllerIdentifier>
ns=1;i=15426
ns=1;i=15428
ns=1;i=15434
ns=1;i=15429
ns=1;i=15440
ns=1;i=15483
ns=1;i=15518
ns=1;i=1003
i=11510
ns=1;i=5001
Manufacturer
i=68
i=78
ns=1;i=15405
Model
i=68
i=78
ns=1;i=15405
ProductCode
i=68
i=78
ns=1;i=15405
SerialNumber
i=68
i=78
ns=1;i=15405
CurrentUser
The given name of the device.
ns=1;i=15441
ns=1;i=18175
i=78
ns=1;i=15405
Level
The weight of the load mounted on one mounting point.
i=68
i=78
ns=1;i=15440
Software
Software is a container for one or more instances of SoftwareType defined in OPC UA DI.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.10
i=61
i=78
ns=1;i=15405
TaskControls
TaskControls is a container for one or more instances of TaskControlType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.11
i=61
i=78
ns=1;i=15405
SafetyStates
Contains safety-related data from motion device system.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
ns=1;i=15697
i=61
i=78
ns=1;i=1002
<SafetyStateIdentifier>
ns=1;i=15698
ns=1;i=1013
i=11510
ns=1;i=5010
ParameterSet
Flat list of Parameters
ns=1;i=15740
ns=1;i=15741
ns=1;i=15742
i=58
i=78
ns=1;i=15697
OperationalMode
The OperationalMode variable provides information about the current operational mode. Allowed values are described in OperationalModeEnumeration, see ISO 10218-1:2011 Ch.5.7 Operational Modes.
i=63
i=78
ns=1;i=15698
EmergencyStop
The EmergencyStop variable is TRUE if one or more of the emergency stop functions in the robot system are active, FALSE otherwise. If the EmergencyStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed emergency stop functions are active.
i=63
i=78
ns=1;i=15698
ProtectiveStop
The ProtectiveStop variable is TRUE if one or more of the enabled protective stop functions in the system are active, FALSE otherwise. If the ProtectiveStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed protective stop functions are enabled and active.
i=63
i=78
ns=1;i=15698
MotionDeviceType
Represents a specific motion device in the motion device system like a robot, a linear unit or a positioner. A MotionDevice should have at least one axis.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.2
ns=1;i=5029
ns=1;i=16351
ns=1;i=16353
ns=1;i=16359
ns=1;i=16354
ns=1;i=16362
ns=1;i=15305
ns=1;i=16443
ns=1;i=5091
ns=1;i=16566
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=16363
ns=1;i=16364
ns=1;i=16365
i=58
i=78
ns=1;i=1004
OnPath
OnPath is true if the motion device is on or near enough the planned program path such that program execution can continue. If the MotionDevice deviates too much from this path in case of errors or an emergency stop, this value becomes false. If OnPath is false, the motion device needs repositioning to continue program execution.
i=63
i=80
ns=1;i=5029
InControl
InControl provides the information if the actuators (in most cases a motor) of the motion device are powered up and in control: "true". The motion device might be in a standstill.
i=63
i=80
ns=1;i=5029
SpeedOverride
SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).
i=63
i=78
ns=1;i=5029
Manufacturer
i=68
i=78
ns=1;i=1004
Model
i=68
i=78
ns=1;i=1004
ProductCode
i=68
i=78
ns=1;i=1004
SerialNumber
i=68
i=78
ns=1;i=1004
MotionDeviceCategory
The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.
i=68
i=78
ns=1;i=1004
Axes
Axes is a container for one or more instances of the AxisType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
ns=1;i=15743
i=61
i=78
ns=1;i=1004
<AxisIdentifier>
ns=1;i=15744
ns=1;i=15808
ns=1;i=16601
i=11510
ns=1;i=15305
ParameterSet
Flat list of Parameters
ns=1;i=15863
i=58
i=78
ns=1;i=15743
ActualPosition
The axis position inclusive Unit and RangeOfMotion.
ns=1;i=15869
i=17497
i=78
ns=1;i=15744
EngineeringUnits
i=68
i=78
ns=1;i=15863
MotionProfile
The kind of axis motion as defined with the AxisMotionProfileEnumeration.
i=68
i=78
ns=1;i=15743
PowerTrains
PowerTrains is a container for one or more instances of the PowerTrainType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
ns=1;i=15905
i=61
i=78
ns=1;i=1004
<PowerTrainIdentifier>
ns=1;i=16794
i=11510
ns=1;i=16443
FlangeLoad
The FlangeLoad is the load on the flange or at the mounting point of the MotionDevice. This can be the maximum load of the MotionDevice.
ns=1;i=6624
ns=1;i=1018
i=80
ns=1;i=1004
Mass
The weight of the load mounted on one mounting point.
ns=1;i=15659
i=17497
i=78
ns=1;i=5091
EngineeringUnits
i=68
i=78
ns=1;i=6624
AdditionalComponents
AdditionalComponents is a container for one or more instances of subtypes of ComponentType defined in OPC UA DI. The listed components are installed at the motion device, e.g. an IO-board.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.13
ns=1;i=18310
i=61
i=80
ns=1;i=1004
<AdditionalComponentIdentifier>
ns=2;i=15035
ns=2;i=15048
ns=2;i=15063
i=11510
ns=1;i=16566
AxisType
The AxisType describes an axis of a motion device.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.3.3/#7.3.3.4
ns=1;i=16602
ns=1;i=16637
ns=1;i=16638
ns=1;i=18344
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=16662
ns=1;i=16668
ns=1;i=16674
i=58
i=78
ns=1;i=16601
ActualPosition
The axis position inclusive Unit and RangeOfMotion.
ns=1;i=16667
i=17497
i=78
ns=1;i=16602
EngineeringUnits
i=68
i=78
ns=1;i=16662
ActualSpeed
The axis speed on load side (after gear/spindle) inclusive Unit.
ns=1;i=16673
i=17497
i=80
ns=1;i=16602
EngineeringUnits
i=68
i=78
ns=1;i=16668
ActualAcceleration
: The ActualAcceleration variable provides the axis acceleration. Applicable acceleration limits of the axis shall be provided by the EURange property of the AnalogUnitType.
ns=1;i=16679
i=17497
i=80
ns=1;i=16602
EngineeringUnits
i=68
i=78
ns=1;i=16674
MotionProfile
The kind of axis motion as defined with the AxisMotionProfileEnumeration.
i=68
i=78
ns=1;i=16601
AdditionalLoad
The additional load which is mounted on this axis. E.g. for process-need a transformer for welding.
ns=1;i=16639
ns=1;i=1018
i=80
ns=1;i=16601
Mass
The weight of the load mounted on one mounting point.
ns=1;i=16644
i=17497
i=78
ns=1;i=16638
EngineeringUnits
i=68
i=78
ns=1;i=16639
<PowerTrainIdentifier>
The Requires reference provides the relationship of axes to powertrains. 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.
ns=1;i=16794
i=11508
ns=1;i=16601
PowerTrainType
The PowerTrainType represents instances of powertrains of a motion device.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.4.2
ns=1;i=15998
ns=1;i=16041
ns=1;i=18536
ns=1;i=18613
ns=2;i=15063
<MotorIdentifier>
ns=1;i=15999
ns=1;i=16019
ns=1;i=16021
ns=1;i=16025
ns=1;i=16028
ns=1;i=1019
i=11510
ns=1;i=16794
ParameterSet
Flat list of Parameters
ns=1;i=16034
i=58
i=78
ns=1;i=15998
MotorTemperature
The motor temperature provides the temperature of the motor. If there is no temperature sensor the value is set to \"null\".
ns=1;i=16039
i=17497
i=78
ns=1;i=15999
EngineeringUnits
i=68
i=78
ns=1;i=16034
Manufacturer
i=68
i=78
ns=1;i=15998
Model
i=68
i=78
ns=1;i=15998
ProductCode
i=68
i=78
ns=1;i=15998
SerialNumber
i=68
i=78
ns=1;i=15998
<GearIdentifier>
ns=1;i=16062
ns=1;i=16064
ns=1;i=16068
ns=1;i=16071
ns=1;i=16076
ns=1;i=1022
i=11508
ns=1;i=16794
Manufacturer
i=68
i=78
ns=1;i=16041
Model
i=68
i=78
ns=1;i=16041
ProductCode
i=68
i=78
ns=1;i=16041
SerialNumber
i=68
i=78
ns=1;i=16041
GearRatio
The transmission ratio of the gear expressed as a fraction as input velocity (motor side) by output velocity (load side).
ns=1;i=16077
ns=1;i=16078
i=17709
i=78
ns=1;i=16041
Numerator
i=63
i=78
ns=1;i=16076
Denominator
i=63
i=78
ns=1;i=16076
<AxisIdentifier>
Moves is a reference to provide the relationship of powertrains to axes. For complex kinematics this does not need to be a one to one relationship, because a powertrain might influence the motion of more than one axis. This reference connects all axis to a powertrain that that move when only this powertrain moves and all other powertrains stand still.
ns=1;i=18537
ns=1;i=18570
ns=1;i=16601
i=11508
ns=1;i=16794
ParameterSet
Flat list of Parameters
ns=1;i=18595
i=58
i=78
ns=1;i=18536
ActualPosition
The axis position inclusive Unit and RangeOfMotion.
ns=1;i=18600
i=17497
i=78
ns=1;i=18537
EngineeringUnits
i=68
i=78
ns=1;i=18595
MotionProfile
The kind of axis motion as defined with the AxisMotionProfileEnumeration.
i=68
i=78
ns=1;i=18536
<PowerTrainIdentifier>
HasSlave is a reference to provide the master-slave relationship of powertrains which provide torque for a common axis. The InverseName is IsSlaveOf.
ns=1;i=16794
i=11508
ns=1;i=16794
MotorType
The MotorType is for representing instances of electric motors.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.5.2
ns=1;i=5105
ns=1;i=17101
ns=1;i=17103
ns=1;i=17109
ns=1;i=17104
ns=1;i=18763
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=17150
ns=1;i=6757
ns=1;i=6776
i=58
i=78
ns=1;i=1019
BrakeReleased
Indicates an optional variable used only for motors with brakes. If BrakeReleased is TRUE the motor is free to run. FALSE means that the motor shaft is locked by the brake.
i=63
i=80
ns=1;i=5105
MotorTemperature
The motor temperature provides the temperature of the motor. If there is no temperature sensor the value is set to \"null\".
ns=1;i=6762
i=17497
i=78
ns=1;i=5105
EngineeringUnits
i=68
i=78
ns=1;i=6757
EffectiveLoadRate
EffectiveLoadRate is expressed as a percentage of maximum continuous load. The Joule integral is typically used to calculate the current load. Duration should be defined and documented by the vendor.
i=63
i=80
ns=1;i=5105
Manufacturer
i=68
i=78
ns=1;i=1019
Model
i=68
i=78
ns=1;i=1019
ProductCode
i=68
i=78
ns=1;i=1019
SerialNumber
i=68
i=78
ns=1;i=1019
<DriveIdentifier>
IsDrivenBy is a reference to provide a relationship from a motor to a drive, which can be a multi-slot-drive or single slot drive. The TypeDefinition of the reference destination as BaseObjectType provides the possibility to point to a slot of a multi-slot-drive or a motor-integrated-drive. If this reference points to a physical drive (and not a drive slot) it should point to an DriveType.
i=58
i=11508
ns=1;i=1019
GearType
The GearType describes a gear in a powertrain, e.g. a gear box or a spindle.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.6.2
ns=1;i=17152
ns=1;i=17154
ns=1;i=17160
ns=1;i=17155
ns=1;i=15941
ns=1;i=17165
ns=2;i=15063
Manufacturer
i=68
i=78
ns=1;i=1022
Model
i=68
i=78
ns=1;i=1022
ProductCode
i=68
i=78
ns=1;i=1022
SerialNumber
i=68
i=78
ns=1;i=1022
GearRatio
The transmission ratio of the gear expressed as a fraction as input velocity (motor side) by output velocity (load side).
ns=1;i=15615
ns=1;i=15616
i=17709
i=78
ns=1;i=1022
Numerator
i=63
i=78
ns=1;i=15941
Denominator
i=63
i=78
ns=1;i=15941
Pitch
Pitch describes the distance covered in millimeters (mm) for linear motion per one revolution of the output side of the driving unit. Pitch is used in combination with GearRatio to describe the overall transmission from input to output of the gear.
i=63
i=80
ns=1;i=1022
SafetyStateType
SafetyStateType describes the safety states of the motion devices and controllers. One motion device system is associated with one or more instances of the SafetyStateType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.2
ns=1;i=5016
ns=1;i=17221
ns=1;i=17225
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=15912
ns=1;i=15882
ns=1;i=15913
i=58
i=78
ns=1;i=1013
OperationalMode
The OperationalMode variable provides information about the current operational mode. Allowed values are described in OperationalModeEnumeration, see ISO 10218-1:2011 Ch.5.7 Operational Modes.
i=63
i=78
ns=1;i=5016
EmergencyStop
The EmergencyStop variable is TRUE if one or more of the emergency stop functions in the robot system are active, FALSE otherwise. If the EmergencyStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed emergency stop functions are active.
i=63
i=78
ns=1;i=5016
ProtectiveStop
The ProtectiveStop variable is TRUE if one or more of the enabled protective stop functions in the system are active, FALSE otherwise. If the ProtectiveStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed protective stop functions are enabled and active.
i=63
i=78
ns=1;i=5016
EmergencyStopFunctions
EmergencyStopFunctions is a container for one or more instances of the EmergencyStopFunctionType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.2
ns=1;i=18806
i=61
i=80
ns=1;i=1013
<EmergencyStopFunctionIdentifier>
ns=1;i=18807
ns=1;i=18808
ns=1;i=17230
i=11510
ns=1;i=17221
Name
The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system.
i=68
i=78
ns=1;i=18806
Active
The Active variable is TRUE if this particular emergency stop function is active, e.g. that the emergency stop button is pressed, FALSE otherwise.
i=63
i=78
ns=1;i=18806
ProtectiveStopFunctions
ProtectiveStopFunctions is a container for one or more instances of the ProtectiveStopFunctionType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.3
ns=1;i=18809
i=61
i=80
ns=1;i=1013
<ProtectiveStopFunctionIdentifier>
ns=1;i=18810
ns=1;i=18811
ns=1;i=18812
ns=1;i=17233
i=11510
ns=1;i=17225
Name
The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system.
i=68
i=78
ns=1;i=18809
Enabled
– The Enabled variable is TRUE if this protective stop function is currently supervising the system, FALSE otherwise. A protective stop function may or may not be enabled at all times, e.g. the protective stop function of the safety doors are typically enabled in automatic operational mode and disabled in manual mode. On the other hand for example, the protective stop function of the teach pendant enabling device is enabled in manual modes and disabled in automatic modes.
i=63
i=78
ns=1;i=18809
Active
– The Active variable is TRUE if this particular protective stop function is active, i.e. that a stop is initiated, FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.
i=63
i=78
ns=1;i=18809
EmergencyStopFunctionType
According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop the robot shall have one or more emergency stop functions.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.2
ns=1;i=17231
ns=1;i=17232
i=58
Name
The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system.
i=68
i=78
ns=1;i=17230
Active
The Active variable is TRUE if this particular emergency stop function is active, e.g. that the emergency stop button is pressed, FALSE otherwise.
i=63
i=78
ns=1;i=17230
ProtectiveStopFunctionType
According to ISO 10218-1:2011 Ch.5.5.3 the robot shall have one or more protective stop functions designed for the connection of external protective devices.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.3
ns=1;i=17234
ns=1;i=17235
ns=1;i=17236
i=58
Name
The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system.
i=68
i=78
ns=1;i=17233
Enabled
– The Enabled variable is TRUE if this protective stop function is currently supervising the system, FALSE otherwise. A protective stop function may or may not be enabled at all times, e.g. the protective stop function of the safety doors are typically enabled in automatic operational mode and disabled in manual mode. On the other hand for example, the protective stop function of the teach pendant enabling device is enabled in manual modes and disabled in automatic modes.
i=63
i=78
ns=1;i=17233
Active
– The Active variable is TRUE if this particular protective stop function is active, i.e. that a stop is initiated, FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.
i=63
i=78
ns=1;i=17233
ControllerType
The ControllerType describes the control unit of motion devices. One motion device system can have one or more instances of the ControllerType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.12
ns=1;i=5004
ns=1;i=17237
ns=1;i=17239
ns=1;i=17245
ns=1;i=17240
ns=1;i=17249
ns=1;i=17252
ns=1;i=15800
ns=1;i=15826
ns=1;i=18918
ns=1;i=18964
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=17358
ns=1;i=15366
ns=1;i=15365
ns=1;i=17359
ns=1;i=17365
ns=1;i=17371
ns=1;i=17377
ns=1;i=17383
i=58
i=80
ns=1;i=1003
TotalPowerOnTime
The total accumulated time the controller was powered on.
i=63
i=80
ns=1;i=5004
StartUpTime
The date and time of the last start-up of the controller.
i=63
i=80
ns=1;i=5004
UpsState
The vendor specific status of an integrated UPS or accumulator system.
i=63
i=80
ns=1;i=5004
TotalEnergyConsumption
The total accumulated energy consumed by the motion devices related with this controller instance.
ns=1;i=17364
i=17497
i=80
ns=1;i=5004
EngineeringUnits
i=68
i=78
ns=1;i=17359
CabinetFanSpeed
The speed of the cabinet fan.
ns=1;i=17370
i=17497
i=80
ns=1;i=5004
EngineeringUnits
i=68
i=78
ns=1;i=17365
CPUFanSpeed
The speed of the CPU fan.
ns=1;i=17376
i=17497
i=80
ns=1;i=5004
EngineeringUnits
i=68
i=78
ns=1;i=17371
InputVoltage
The input voltage of the controller which can be a configured value. To distinguish between an AC or DC supply the optional property Definition of the base type DataItemType shall be used.
ns=1;i=17382
i=17497
i=80
ns=1;i=5004
EngineeringUnits
i=68
i=78
ns=1;i=17377
Temperature
The controller temperature given by a temperature sensor inside of the controller.
ns=1;i=17388
i=17497
i=80
ns=1;i=5004
EngineeringUnits
i=68
i=78
ns=1;i=17383
Manufacturer
i=68
i=78
ns=1;i=1003
Model
i=68
i=78
ns=1;i=1003
ProductCode
i=68
i=78
ns=1;i=1003
SerialNumber
i=68
i=78
ns=1;i=1003
CurrentUser
The given name of the device.
ns=1;i=17250
ns=1;i=18175
i=78
ns=1;i=1003
Level
The weight of the load mounted on one mounting point.
i=68
i=78
ns=1;i=17249
Components
Components is a container for one or more instances of subtypes of ComponentType defined in OPC UA DI. The listed components are installed in the motion device system, e.g. a processing-unit, a power-supply, an IO-board or a drive, and have an electrical interface to the controller.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.9
ns=1;i=18813
i=61
i=80
ns=1;i=1003
<ComponentIdentifier>
The intention is to integrate inside this container devices which are defined in other companion specifications using DI.
ns=2;i=15035
ns=2;i=15048
ns=2;i=15063
i=11510
ns=1;i=17252
Software
Software is a container for one or more instances of SoftwareType defined in OPC UA DI.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.10
ns=1;i=18847
i=61
i=78
ns=1;i=1003
<SoftwareIdentifier>
ns=1;i=18868
ns=1;i=18870
ns=1;i=18873
ns=2;i=15106
i=11510
ns=1;i=15800
Manufacturer
i=68
i=78
ns=1;i=18847
Model
i=68
i=78
ns=1;i=18847
SoftwareRevision
i=68
i=78
ns=1;i=18847
TaskControls
TaskControls is a container for one or more instances of TaskControlType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.11
ns=1;i=18881
i=61
i=78
ns=1;i=1003
<TaskControlIdentifier>
ns=1;i=18882
ns=1;i=18914
ns=1;i=1011
i=11510
ns=1;i=15826
ParameterSet
Flat list of Parameters
ns=1;i=18915
ns=1;i=18916
i=58
i=78
ns=1;i=18881
TaskProgramName
A customer given identifier for the task program.
i=63
i=78
ns=1;i=18882
TaskProgramLoaded
The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise.
i=63
i=78
ns=1;i=18882
ComponentName
A user writable name provided by the vendor, integrator or user of the device.
i=68
i=78
ns=1;i=18881
<SafetyStatesIdentifier>
The relationship of safety states to a controller.
ns=1;i=18919
ns=1;i=1013
i=11508
ns=1;i=1003
ParameterSet
Flat list of Parameters
ns=1;i=18961
ns=1;i=18962
ns=1;i=18963
i=58
i=78
ns=1;i=18918
OperationalMode
The OperationalMode variable provides information about the current operational mode. Allowed values are described in OperationalModeEnumeration, see ISO 10218-1:2011 Ch.5.7 Operational Modes.
i=63
i=78
ns=1;i=18919
EmergencyStop
The EmergencyStop variable is TRUE if one or more of the emergency stop functions in the robot system are active, FALSE otherwise. If the EmergencyStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed emergency stop functions are active.
i=63
i=78
ns=1;i=18919
ProtectiveStop
The ProtectiveStop variable is TRUE if one or more of the enabled protective stop functions in the system are active, FALSE otherwise. If the ProtectiveStopFunctions object is provided, then the value of this variable is TRUE if one or more of the listed protective stop functions are enabled and active.
i=63
i=78
ns=1;i=18919
<MotionDeviceIdentifier>
The relationship of a motion device and controller.
ns=1;i=18965
ns=1;i=18985
ns=1;i=18987
ns=1;i=18993
ns=1;i=18988
ns=1;i=18998
ns=1;i=19002
ns=1;i=19080
ns=1;i=1004
i=11508
ns=1;i=1003
ParameterSet
Flat list of Parameters
ns=1;i=19001
i=58
i=78
ns=1;i=18964
SpeedOverride
SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).
i=63
i=78
ns=1;i=18965
Manufacturer
i=68
i=78
ns=1;i=18964
Model
i=68
i=78
ns=1;i=18964
ProductCode
i=68
i=78
ns=1;i=18964
SerialNumber
i=68
i=78
ns=1;i=18964
MotionDeviceCategory
The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.
i=68
i=78
ns=1;i=18964
Axes
Axes is a container for one or more instances of the AxisType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
i=61
i=78
ns=1;i=18964
PowerTrains
PowerTrains is a container for one or more instances of the PowerTrainType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
i=61
i=78
ns=1;i=18964
AuxiliaryComponentType
Components mounted in a controller cabinet or a motion device e.g. an IO-board or a power supply.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.9.2
ns=1;i=17756
ns=2;i=1002
ProductCode
The ProductCode property provides a unique combination of numbers and letters used to identify the product. It may be the order information displayed on type shields or in ERP systems.
i=68
i=78
ns=1;i=17725
DriveType
Drives (multi-slot or single-slot axis amplifier) mounted in a controller cabinet or a motion device.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.10.2
ns=1;i=17824
ns=2;i=1002
ProductCode
The ProductCode property provides a unique combination of numbers and letters used to identify the product. It may be the order information displayed on type shields or in ERP systems.
i=68
i=78
ns=1;i=17793
TaskControlType
Represents a specific task control active on the controller.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.11.2
ns=1;i=15883
ns=1;i=17873
ns=1;i=19254
ns=2;i=15063
ParameterSet
Flat list of Parameters
ns=1;i=17874
ns=1;i=17875
ns=1;i=17876
i=58
i=78
ns=1;i=1011
TaskProgramName
A customer given identifier for the task program.
i=63
i=78
ns=1;i=15883
TaskProgramLoaded
The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise.
i=63
i=78
ns=1;i=15883
ExecutionMode
Execution mode of the task control (continuous or step-wise).
i=63
i=80
ns=1;i=15883
ComponentName
A user writable name provided by the vendor, integrator or user of the device.
i=68
i=78
ns=1;i=1011
<MotionDeviceIdentifier>
Controls is a reference to provide the relationship between a task control and a motion device.
ns=1;i=19255
ns=1;i=19275
ns=1;i=19277
ns=1;i=19283
ns=1;i=19278
ns=1;i=19288
ns=1;i=19292
ns=1;i=19370
ns=1;i=1004
i=11508
ns=1;i=1011
ParameterSet
Flat list of Parameters
ns=1;i=19291
i=58
i=78
ns=1;i=19254
SpeedOverride
SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).
i=63
i=78
ns=1;i=19255
Manufacturer
i=68
i=78
ns=1;i=19254
Model
i=68
i=78
ns=1;i=19254
ProductCode
i=68
i=78
ns=1;i=19254
SerialNumber
i=68
i=78
ns=1;i=19254
MotionDeviceCategory
The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.
i=68
i=78
ns=1;i=19254
Axes
Axes is a container for one or more instances of the AxisType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
i=61
i=78
ns=1;i=19254
PowerTrains
PowerTrains is a container for one or more instances of the PowerTrainType.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
i=61
i=78
ns=1;i=19254
LoadType
The LoadType is for describing loads mounted on the motion device typically by an integrator or a customer.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.12.2
ns=1;i=6723
ns=1;i=6013
ns=1;i=18170
i=58
Mass
The weight of the load mounted on one mounting point.
ns=1;i=6728
i=17497
i=78
ns=1;i=1018
EngineeringUnits
i=68
i=78
ns=1;i=6723
CenterOfMass
The position and orientation of the center of the mass related to the mounting point using a FrameType. X, Y, Z define the position of the center of gravity relative to the mounting point coordinate system. A, B, C define the orientation of the principal axes of inertia relative to the mounting point coordinate system. Orientation A, B, C can be "0" for systems which do not need these values.
ns=1;i=16130
ns=1;i=16132
i=18791
i=80
ns=1;i=1018
CartesianCoordinates
ns=1;i=16134
ns=1;i=16135
ns=1;i=16136
i=18774
i=78
ns=1;i=6013
X
i=63
i=78
ns=1;i=16130
Y
i=63
i=78
ns=1;i=16130
Z
i=63
i=78
ns=1;i=16130
Orientation
ns=1;i=16137
ns=1;i=16138
ns=1;i=16139
i=18781
i=78
ns=1;i=6013
A
i=63
i=78
ns=1;i=16132
B
i=63
i=78
ns=1;i=16132
C
i=63
i=78
ns=1;i=16132
Inertia
The Inertia uses the VectorType to describe the three values of the principal moments of inertia with respect to the mounting point coordinate system. If inertia values are provided for rotary axis the CenterOfMass shall be completely filled as well.
ns=1;i=18171
ns=1;i=18172
ns=1;i=18173
i=17716
i=80
ns=1;i=1018
X
i=63
i=78
ns=1;i=18170
Y
i=63
i=78
ns=1;i=18170
Z
i=63
i=78
ns=1;i=18170
UserType
The UserType ObjectType describes information of the registered user groups within the control system.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.13.2
ns=1;i=18176
ns=1;i=18177
i=58
Level
The weight of the load mounted on one mounting point.
i=68
i=78
ns=1;i=18175
Name
The name for the current user within the control system.
i=68
i=80
ns=1;i=18175
Controls
Reference: Describe dependencies between objects which have a controlling character.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.2
i=33
IsControlledBy
Moves
Reference: Describe the coupling between a powertrain and the axes from the powertrain point of view.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.3
i=33
IsMovedBy
Requires
Reference: Describe the coupling between a powertrain and axes from the axis point of view. An axis has a Requires reference to all powertrains that need to move such that only this single axis moves.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.4
i=33
IsRequiredBy
IsDrivenBy
Reference: Describe dependencies between objects which have a driving or powering character. The BrowseName IsDrivenBy and the InverseName Drives describe semantically the hierarchical dependency.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.5
i=33
Drives
IsConnectedTo
Reference: Describe dependencies between objects which are mounted or mechanically linked or connected to each other. The IsConnectedTo reference is symmetric and has no InverseName.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.6
i=32
HasSafetyStates
Reference: Describe dependencies between objects to show which (controller) object is responsible for the execution of the safety-functionality. The BrowseName HasSafetyStates and the InverseName SafetyStatesOf describe semantically the hierarchical dependency.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.7
i=33
SafetyStatesOf
HasSlave
Reference: Provide the master-slave relationship of powertrains which provide torque for a common axis. The InverseName is IsSlaveOf.
https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.8
i=33
IsSlaveOf
ExecutionModeEnumeration
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.11.3/#7.11.3.2
ns=1;i=18192
i=29
Single execution of a task program according to ISO 8373.
Task program is executed continuously and starts again automatically.
Task program is executed in steps.
EnumStrings
i=68
i=78
ns=1;i=18191
CYCLE
CONTINUOUS
STEP
MotionDeviceCategoryEnumeration
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.8
ns=1;i=18194
i=29
Any MotionDevice which is not defined by the MotionDeviceCategoryEnumeration.
This robot design features rotary joints and can range from simple two joint structures to 10 or more joints. The arm is connected to the base with a twisting joint. The links in the arm are connected by rotary joints.
The robot has two parallel rotary joints that ensure compliance in a specified plane.
Cartesian robots have three linear joints that use the Cartesian coordinate system (X, Y, and Z). They also may have an attached wrist to allow for rotational movement. The three prismatic joints provide linear movement along the axis.
The arm is connected to the base with a twisting joint and a combination of two rotary joints and one linear joint. The axes form a polar coordinate system and create a spherical shaped work envelope.
These spider like robots are built from jointed parallelograms connected to a common base. The parallelograms move a single EOAT in a dome-shaped work area.
The robot has at least one rotary joint at the base and at least one prismatic joint to connect the links. The rotary joint uses a rotational motion along the joint axis, while the prismatic joint moves in a linear motion. Cylindrical robots operate within a cylindrical-shaped work envelope.
EnumStrings
i=68
i=78
ns=1;i=18193
OTHER
ARTICULATED_ROBOT
SCARA_ROBOT
CARTESIAN_ROBOT
SPHERICAL_ROBOT
PARALLEL_ROBOT
CYLINDRICAL_ROBOT
AxisMotionProfileEnumeration
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.3.3/#7.3.3.2
ns=1;i=6027
i=29
Any motion-profile which is not defined by the AxisMotionProfileEnumeration.
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 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 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 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.
EnumStrings
i=68
i=78
ns=1;i=3008
OTHER
ROTARY
ROTARY_ENDLESS
LINEAR
LINEAR_ENDLESS
OperationalModeEnumeration
https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.4
ns=1;i=6022
i=29
Other for when there is a system-boot (unknown) or a failure of the safety, there is no valid operational mode.
"Manual reduced speed" - name according to ISO 10218-1:2011.
"Manual high speed" - name according to ISO 10218-1:2011.
"Automatic" - name according to ISO 10218-1:2011.
"Automatic external" - Same as "Automatic" but with external control, e.g. by a PLC.
EnumStrings
i=68
i=78
ns=1;i=3006
OTHER
MANUAL_REDUCED_SPEED
MANUAL_HIGH_SPEED
AUTOMATIC
AUTOMATIC_EXTERNAL
Opc.Ua.Robotics
ns=1;i=6117
ns=1;i=15196
i=93
i=72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NamespaceUri
i=68
ns=1;i=6110
http://opcfoundation.org/UA/Robotics/
Deprecated
i=68
ns=1;i=6110
true
Opc.Ua.Robotics
ns=1;i=6170
ns=1;i=15200
i=92
i=72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NamespaceUri
i=68
ns=1;i=6118
http://opcfoundation.org/UA/Robotics/Types.xsd
Deprecated
i=68
ns=1;i=6118
true