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 PG9wYzpUeXBlRGljdGlvbmFyeQ0KICB4bWxuczpEST0iaHR0cDovL29wY2ZvdW5kYXRpb24ub3Jn L1VBL0RJLyINCiAgeG1sbnM6b3BjPSJodHRwOi8vb3BjZm91bmRhdGlvbi5vcmcvQmluYXJ5U2No ZW1hLyINCiAgeG1sbnM6eHNpPSJodHRwOi8vd3d3LnczLm9yZy8yMDAxL1hNTFNjaGVtYS1pbnN0 YW5jZSINCiAgeG1sbnM6dWE9Imh0dHA6Ly9vcGNmb3VuZGF0aW9uLm9yZy9VQS8iDQogIHhtbG5z OnRucz0iaHR0cDovL29wY2ZvdW5kYXRpb24ub3JnL1VBL1JvYm90aWNzLyINCiAgRGVmYXVsdEJ5 dGVPcmRlcj0iTGl0dGxlRW5kaWFuIg0KICBUYXJnZXROYW1lc3BhY2U9Imh0dHA6Ly9vcGNmb3Vu ZGF0aW9uLm9yZy9VQS9Sb2JvdGljcy8iDQo+DQogIDxvcGM6SW1wb3J0IE5hbWVzcGFjZT0iaHR0 cDovL29wY2ZvdW5kYXRpb24ub3JnL1VBL0RJLyIgTG9jYXRpb249Ik9wYy5VYS5EaS5CaW5hcnlT Y2hlbWEuYnNkIi8+DQogIDxvcGM6SW1wb3J0IE5hbWVzcGFjZT0iaHR0cDovL29wY2ZvdW5kYXRp b24ub3JnL1VBLyIgTG9jYXRpb249Ik9wYy5VYS5CaW5hcnlTY2hlbWEuYnNkIi8+DQoNCiAgPG9w YzpFbnVtZXJhdGVkVHlwZSBOYW1lPSJFeGVjdXRpb25Nb2RlRW51bWVyYXRpb24iIExlbmd0aElu Qml0cz0iMzIiPg0KICAgIDxvcGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9IkNZQ0xFIiBWYWx1ZT0i MCIgLz4NCiAgICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJDT05USU5VT1VTIiBWYWx1ZT0i MSIgLz4NCiAgICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJTVEVQIiBWYWx1ZT0iMiIgLz4N CiAgPC9vcGM6RW51bWVyYXRlZFR5cGU+DQoNCiAgPG9wYzpFbnVtZXJhdGVkVHlwZSBOYW1lPSJN b3Rpb25EZXZpY2VDYXRlZ29yeUVudW1lcmF0aW9uIiBMZW5ndGhJbkJpdHM9IjMyIj4NCiAgICA8 b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJPVEhFUiIgVmFsdWU9IjAiIC8+DQogICAgPG9wYzpF bnVtZXJhdGVkVmFsdWUgTmFtZT0iQVJUSUNVTEFURURfUk9CT1QiIFZhbHVlPSIxIiAvPg0KICAg IDxvcGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9IlNDQVJBX1JPQk9UIiBWYWx1ZT0iMiIgLz4NCiAg ICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJDQVJURVNJQU5fUk9CT1QiIFZhbHVlPSIzIiAv Pg0KICAgIDxvcGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9IlNQSEVSSUNBTF9ST0JPVCIgVmFsdWU9 IjQiIC8+DQogICAgPG9wYzpFbnVtZXJhdGVkVmFsdWUgTmFtZT0iUEFSQUxMRUxfUk9CT1QiIFZh bHVlPSI1IiAvPg0KICAgIDxvcGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9IkNZTElORFJJQ0FMX1JP Qk9UIiBWYWx1ZT0iNiIgLz4NCiAgPC9vcGM6RW51bWVyYXRlZFR5cGU+DQoNCiAgPG9wYzpFbnVt ZXJhdGVkVHlwZSBOYW1lPSJBeGlzTW90aW9uUHJvZmlsZUVudW1lcmF0aW9uIiBMZW5ndGhJbkJp dHM9IjMyIj4NCiAgICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJPVEhFUiIgVmFsdWU9IjAi IC8+DQogICAgPG9wYzpFbnVtZXJhdGVkVmFsdWUgTmFtZT0iUk9UQVJZIiBWYWx1ZT0iMSIgLz4N CiAgICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJST1RBUllfRU5ETEVTUyIgVmFsdWU9IjIi IC8+DQogICAgPG9wYzpFbnVtZXJhdGVkVmFsdWUgTmFtZT0iTElORUFSIiBWYWx1ZT0iMyIgLz4N CiAgICA8b3BjOkVudW1lcmF0ZWRWYWx1ZSBOYW1lPSJMSU5FQVJfRU5ETEVTUyIgVmFsdWU9IjQi IC8+DQogIDwvb3BjOkVudW1lcmF0ZWRUeXBlPg0KDQogIDxvcGM6RW51bWVyYXRlZFR5cGUgTmFt ZT0iT3BlcmF0aW9uYWxNb2RlRW51bWVyYXRpb24iIExlbmd0aEluQml0cz0iMzIiPg0KICAgIDxv cGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9Ik9USEVSIiBWYWx1ZT0iMCIgLz4NCiAgICA8b3BjOkVu dW1lcmF0ZWRWYWx1ZSBOYW1lPSJNQU5VQUxfUkVEVUNFRF9TUEVFRCIgVmFsdWU9IjEiIC8+DQog ICAgPG9wYzpFbnVtZXJhdGVkVmFsdWUgTmFtZT0iTUFOVUFMX0hJR0hfU1BFRUQiIFZhbHVlPSIy IiAvPg0KICAgIDxvcGM6RW51bWVyYXRlZFZhbHVlIE5hbWU9IkFVVE9NQVRJQyIgVmFsdWU9IjMi IC8+DQogICAgPG9wYzpFbnVtZXJhdGVkVmFsdWUgTmFtZT0iQVVUT01BVElDX0VYVEVSTkFMIiBW YWx1ZT0iNCIgLz4NCiAgPC9vcGM6RW51bWVyYXRlZFR5cGU+DQoNCjwvb3BjOlR5cGVEaWN0aW9u YXJ5Pg== 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 PHhzOnNjaGVtYQ0KICB4bWxuczpEST0iaHR0cDovL29wY2ZvdW5kYXRpb24ub3JnL1VBL0RJL1R5 cGVzLnhzZCINCiAgeG1sbnM6eHM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDEvWE1MU2NoZW1hIg0K ICB4bWxuczp1YT0iaHR0cDovL29wY2ZvdW5kYXRpb24ub3JnL1VBLzIwMDgvMDIvVHlwZXMueHNk Ig0KICB4bWxuczp0bnM9Imh0dHA6Ly9vcGNmb3VuZGF0aW9uLm9yZy9VQS9Sb2JvdGljcy9UeXBl cy54c2QiDQogIHRhcmdldE5hbWVzcGFjZT0iaHR0cDovL29wY2ZvdW5kYXRpb24ub3JnL1VBL1Jv Ym90aWNzL1R5cGVzLnhzZCINCiAgZWxlbWVudEZvcm1EZWZhdWx0PSJxdWFsaWZpZWQiDQo+DQog IDx4czppbXBvcnQgbmFtZXNwYWNlPSJodHRwOi8vb3BjZm91bmRhdGlvbi5vcmcvVUEvREkvVHlw ZXMueHNkIiAvPg0KICA8eHM6aW1wb3J0IG5hbWVzcGFjZT0iaHR0cDovL29wY2ZvdW5kYXRpb24u b3JnL1VBLzIwMDgvMDIvVHlwZXMueHNkIiAvPg0KDQogIDx4czpzaW1wbGVUeXBlICBuYW1lPSJF eGVjdXRpb25Nb2RlRW51bWVyYXRpb24iPg0KICAgIDx4czpyZXN0cmljdGlvbiBiYXNlPSJ4czpz dHJpbmciPg0KICAgICAgPHhzOmVudW1lcmF0aW9uIHZhbHVlPSJDWUNMRV8wIiAvPg0KICAgICAg PHhzOmVudW1lcmF0aW9uIHZhbHVlPSJDT05USU5VT1VTXzEiIC8+DQogICAgICA8eHM6ZW51bWVy YXRpb24gdmFsdWU9IlNURVBfMiIgLz4NCiAgICA8L3hzOnJlc3RyaWN0aW9uPg0KICA8L3hzOnNp bXBsZVR5cGU+DQogIDx4czplbGVtZW50IG5hbWU9IkV4ZWN1dGlvbk1vZGVFbnVtZXJhdGlvbiIg dHlwZT0idG5zOkV4ZWN1dGlvbk1vZGVFbnVtZXJhdGlvbiIgLz4NCg0KICA8eHM6Y29tcGxleFR5 cGUgbmFtZT0iTGlzdE9mRXhlY3V0aW9uTW9kZUVudW1lcmF0aW9uIj4NCiAgICA8eHM6c2VxdWVu Y2U+DQogICAgICA8eHM6ZWxlbWVudCBuYW1lPSJFeGVjdXRpb25Nb2RlRW51bWVyYXRpb24iIHR5 cGU9InRuczpFeGVjdXRpb25Nb2RlRW51bWVyYXRpb24iIG1pbk9jY3Vycz0iMCIgbWF4T2NjdXJz PSJ1bmJvdW5kZWQiIC8+DQogICAgPC94czpzZXF1ZW5jZT4NCiAgPC94czpjb21wbGV4VHlwZT4N CiAgPHhzOmVsZW1lbnQgbmFtZT0iTGlzdE9mRXhlY3V0aW9uTW9kZUVudW1lcmF0aW9uIiB0eXBl PSJ0bnM6TGlzdE9mRXhlY3V0aW9uTW9kZUVudW1lcmF0aW9uIiBuaWxsYWJsZT0idHJ1ZSI+PC94 czplbGVtZW50Pg0KDQogIDx4czpzaW1wbGVUeXBlICBuYW1lPSJNb3Rpb25EZXZpY2VDYXRlZ29y eUVudW1lcmF0aW9uIj4NCiAgICA8eHM6cmVzdHJpY3Rpb24gYmFzZT0ieHM6c3RyaW5nIj4NCiAg ICAgIDx4czplbnVtZXJhdGlvbiB2YWx1ZT0iT1RIRVJfMCIgLz4NCiAgICAgIDx4czplbnVtZXJh dGlvbiB2YWx1ZT0iQVJUSUNVTEFURURfUk9CT1RfMSIgLz4NCiAgICAgIDx4czplbnVtZXJhdGlv biB2YWx1ZT0iU0NBUkFfUk9CT1RfMiIgLz4NCiAgICAgIDx4czplbnVtZXJhdGlvbiB2YWx1ZT0i Q0FSVEVTSUFOX1JPQk9UXzMiIC8+DQogICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9IlNQSEVS SUNBTF9ST0JPVF80IiAvPg0KICAgICAgPHhzOmVudW1lcmF0aW9uIHZhbHVlPSJQQVJBTExFTF9S T0JPVF81IiAvPg0KICAgICAgPHhzOmVudW1lcmF0aW9uIHZhbHVlPSJDWUxJTkRSSUNBTF9ST0JP VF82IiAvPg0KICAgIDwveHM6cmVzdHJpY3Rpb24+DQogIDwveHM6c2ltcGxlVHlwZT4NCiAgPHhz OmVsZW1lbnQgbmFtZT0iTW90aW9uRGV2aWNlQ2F0ZWdvcnlFbnVtZXJhdGlvbiIgdHlwZT0idG5z Ok1vdGlvbkRldmljZUNhdGVnb3J5RW51bWVyYXRpb24iIC8+DQoNCiAgPHhzOmNvbXBsZXhUeXBl IG5hbWU9Ikxpc3RPZk1vdGlvbkRldmljZUNhdGVnb3J5RW51bWVyYXRpb24iPg0KICAgIDx4czpz ZXF1ZW5jZT4NCiAgICAgIDx4czplbGVtZW50IG5hbWU9Ik1vdGlvbkRldmljZUNhdGVnb3J5RW51 bWVyYXRpb24iIHR5cGU9InRuczpNb3Rpb25EZXZpY2VDYXRlZ29yeUVudW1lcmF0aW9uIiBtaW5P Y2N1cnM9IjAiIG1heE9jY3Vycz0idW5ib3VuZGVkIiAvPg0KICAgIDwveHM6c2VxdWVuY2U+DQog IDwveHM6Y29tcGxleFR5cGU+DQogIDx4czplbGVtZW50IG5hbWU9Ikxpc3RPZk1vdGlvbkRldmlj ZUNhdGVnb3J5RW51bWVyYXRpb24iIHR5cGU9InRuczpMaXN0T2ZNb3Rpb25EZXZpY2VDYXRlZ29y eUVudW1lcmF0aW9uIiBuaWxsYWJsZT0idHJ1ZSI+PC94czplbGVtZW50Pg0KDQogIDx4czpzaW1w bGVUeXBlICBuYW1lPSJBeGlzTW90aW9uUHJvZmlsZUVudW1lcmF0aW9uIj4NCiAgICA8eHM6cmVz dHJpY3Rpb24gYmFzZT0ieHM6c3RyaW5nIj4NCiAgICAgIDx4czplbnVtZXJhdGlvbiB2YWx1ZT0i T1RIRVJfMCIgLz4NCiAgICAgIDx4czplbnVtZXJhdGlvbiB2YWx1ZT0iUk9UQVJZXzEiIC8+DQog ICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9IlJPVEFSWV9FTkRMRVNTXzIiIC8+DQogICAgICA8 eHM6ZW51bWVyYXRpb24gdmFsdWU9IkxJTkVBUl8zIiAvPg0KICAgICAgPHhzOmVudW1lcmF0aW9u IHZhbHVlPSJMSU5FQVJfRU5ETEVTU180IiAvPg0KICAgIDwveHM6cmVzdHJpY3Rpb24+DQogIDwv eHM6c2ltcGxlVHlwZT4NCiAgPHhzOmVsZW1lbnQgbmFtZT0iQXhpc01vdGlvblByb2ZpbGVFbnVt ZXJhdGlvbiIgdHlwZT0idG5zOkF4aXNNb3Rpb25Qcm9maWxlRW51bWVyYXRpb24iIC8+DQoNCiAg PHhzOmNvbXBsZXhUeXBlIG5hbWU9Ikxpc3RPZkF4aXNNb3Rpb25Qcm9maWxlRW51bWVyYXRpb24i Pg0KICAgIDx4czpzZXF1ZW5jZT4NCiAgICAgIDx4czplbGVtZW50IG5hbWU9IkF4aXNNb3Rpb25Q cm9maWxlRW51bWVyYXRpb24iIHR5cGU9InRuczpBeGlzTW90aW9uUHJvZmlsZUVudW1lcmF0aW9u IiBtaW5PY2N1cnM9IjAiIG1heE9jY3Vycz0idW5ib3VuZGVkIiAvPg0KICAgIDwveHM6c2VxdWVu Y2U+DQogIDwveHM6Y29tcGxleFR5cGU+DQogIDx4czplbGVtZW50IG5hbWU9Ikxpc3RPZkF4aXNN b3Rpb25Qcm9maWxlRW51bWVyYXRpb24iIHR5cGU9InRuczpMaXN0T2ZBeGlzTW90aW9uUHJvZmls ZUVudW1lcmF0aW9uIiBuaWxsYWJsZT0idHJ1ZSI+PC94czplbGVtZW50Pg0KDQogIDx4czpzaW1w bGVUeXBlICBuYW1lPSJPcGVyYXRpb25hbE1vZGVFbnVtZXJhdGlvbiI+DQogICAgPHhzOnJlc3Ry aWN0aW9uIGJhc2U9InhzOnN0cmluZyI+DQogICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9Ik9U SEVSXzAiIC8+DQogICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9Ik1BTlVBTF9SRURVQ0VEX1NQ RUVEXzEiIC8+DQogICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9Ik1BTlVBTF9ISUdIX1NQRUVE XzIiIC8+DQogICAgICA8eHM6ZW51bWVyYXRpb24gdmFsdWU9IkFVVE9NQVRJQ18zIiAvPg0KICAg ICAgPHhzOmVudW1lcmF0aW9uIHZhbHVlPSJBVVRPTUFUSUNfRVhURVJOQUxfNCIgLz4NCiAgICA8 L3hzOnJlc3RyaWN0aW9uPg0KICA8L3hzOnNpbXBsZVR5cGU+DQogIDx4czplbGVtZW50IG5hbWU9 Ik9wZXJhdGlvbmFsTW9kZUVudW1lcmF0aW9uIiB0eXBlPSJ0bnM6T3BlcmF0aW9uYWxNb2RlRW51 bWVyYXRpb24iIC8+DQoNCiAgPHhzOmNvbXBsZXhUeXBlIG5hbWU9Ikxpc3RPZk9wZXJhdGlvbmFs TW9kZUVudW1lcmF0aW9uIj4NCiAgICA8eHM6c2VxdWVuY2U+DQogICAgICA8eHM6ZWxlbWVudCBu YW1lPSJPcGVyYXRpb25hbE1vZGVFbnVtZXJhdGlvbiIgdHlwZT0idG5zOk9wZXJhdGlvbmFsTW9k ZUVudW1lcmF0aW9uIiBtaW5PY2N1cnM9IjAiIG1heE9jY3Vycz0idW5ib3VuZGVkIiAvPg0KICAg IDwveHM6c2VxdWVuY2U+DQogIDwveHM6Y29tcGxleFR5cGU+DQogIDx4czplbGVtZW50IG5hbWU9 Ikxpc3RPZk9wZXJhdGlvbmFsTW9kZUVudW1lcmF0aW9uIiB0eXBlPSJ0bnM6TGlzdE9mT3BlcmF0 aW9uYWxNb2RlRW51bWVyYXRpb24iIG5pbGxhYmxlPSJ0cnVlIj48L3hzOmVsZW1lbnQ+DQoNCjwv eHM6c2NoZW1hPg== NamespaceUri i=68 ns=1;i=6118 http://opcfoundation.org/UA/Robotics/Types.xsd Deprecated i=68 ns=1;i=6118 true