http://opcfoundation.org/UA/DI/ http://opcfoundation.org/UA/IA/ http://opcfoundation.org/UA/Robotics/ i=1 i=4 i=5 i=6 i=7 i=11 i=13 i=12 i=15 i=17 i=20 i=21 i=19 i=47 i=46 i=35 i=45 i=40 i=37 i=53 i=52 i=51 i=54 i=9004 i=17604 i=17603 i=256 i=291 i=887 i=294 i=7594 i=41 i=95 i=96 i=117 i=296 i=12879 i=18806 i=18808 i=18810 i=18812 i=18814 ns=3;i=3006 ns=3;i=3008 ns=3;i=18178 ns=3;i=18180 ns=3;i=18182 ns=3;i=18183 ns=3;i=18191 ns=3;i=18193 AxisMotionProfileEnumeration https://reference.opcfoundation.org/Robotics/v100/docs/10.2 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 ns=3;i=3008 i=68 OTHER ROTARY ROTARY_ENDLESS LINEAR LINEAR_ENDLESS ExecutionModeEnumeration https://reference.opcfoundation.org/Robotics/v100/docs/10.3 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 ns=3;i=18191 i=68 CYCLE CONTINUOUS STEP MotionDeviceCategoryEnumeration https://reference.opcfoundation.org/Robotics/v100/docs/10.1 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 ns=3;i=18193 i=68 OTHER ARTICULATED_ROBOT SCARA_ROBOT CARTESIAN_ROBOT SPHERICAL_ROBOT PARALLEL_ROBOT CYLINDRICAL_ROBOT OperationalModeEnumeration https://reference.opcfoundation.org/Robotics/v100/docs/10.4 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 ns=3;i=3006 i=68 OTHER MANUAL_REDUCED_SPEED MANUAL_HIGH_SPEED AUTOMATIC AUTOMATIC_EXTERNAL Controls Reference: Describe dependencies between objects which have a controlling character. https://reference.opcfoundation.org/Robotics/v100/docs/8.2 i=33 IsControlledBy 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/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/Robotics/v100/docs/8.8 i=33 IsSlaveOf 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/Robotics/v100/docs/8.5 i=33 Drives Moves Reference: Describe the coupling between a powertrain and the axes from the powertrain point of view. https://reference.opcfoundation.org/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/Robotics/v100/docs/8.4 i=33 IsRequiredBy 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/Robotics/v100/docs/8.6 i=32 IsConnectedTo MultiAcknowledgeableConditionType Rob RobAckCondInstance https://reference.opcfoundation.org/Robotics/v100/docs/9.1 i=2881 ns=3;i=6140 ConditionDescriptions i=78 i=68 EmergencyStopFunctionType According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop the robot shall have one or more emergency stop functions. Rob Emergency Stop Function https://reference.opcfoundation.org/Robotics/v100/docs/7.8.2 i=58 ns=3;i=17232 ns=3;i=17231 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 Name The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system. i=68 i=78 LoadType The LoadType is for describing loads mounted on the motion device typically by an integrator or a customer. https://reference.opcfoundation.org/Robotics/v100/docs/7.23.2 i=58 ns=3;i=6013 ns=3;i=18170 ns=3;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. i=18791 i=80 ns=3;i=16130 ns=3;i=16132 CartesianCoordinates i=18774 i=78 ns=3;i=16134 ns=3;i=16135 ns=3;i=16136 X i=63 i=78 Y i=63 i=78 Z i=63 i=78 Orientation i=18781 i=78 ns=3;i=16137 ns=3;i=16138 ns=3;i=16139 A i=63 i=78 B i=63 i=78 C i=63 i=78 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. i=17716 i=80 ns=3;i=18171 ns=3;i=18172 ns=3;i=18173 X i=63 i=78 Y i=63 i=78 Z i=63 i=78 Mass The weight of the load mounted on one mounting point. i=17497 i=78 ns=3;i=6728 EngineeringUnits i=68 i=78 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. Rob Protective Stop Function https://reference.opcfoundation.org/Robotics/v100/docs/7.9.2 i=58 ns=3;i=17236 ns=3;i=17235 ns=3;i=17234 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 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 Name The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system. i=68 i=78 ExecutingSubstateMachineType Rob System ExecutingSubstate Rob System Events https://reference.opcfoundation.org/Robotics/v100/docs/7.14.1 i=2771 i=2311 ns=3;i=6036 ns=3;i=6038 ns=3;i=5020 ns=3;i=5022 ns=3;i=5021 LastTransition i=78 i=2767 ns=3;i=6037 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6039 ns=3;i=6040 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid Running i=2309 ns=3;i=6041 StateNumber i=78 i=68 1 RunningToStopping i=2310 ns=3;i=5020 ns=3;i=5021 i=2311 ns=3;i=6043 TransitionNumber i=78 i=68 1 Stopping i=2307 ns=3;i=6042 StateNumber i=78 i=68 2 IdleSubstateMachineType Rob System IdleSubstate Rob System Events https://reference.opcfoundation.org/Robotics/v100/docs/7.13.1 i=2771 i=2311 ns=3;i=5017 ns=3;i=5018 ns=3;i=6026 ns=3;i=6029 ns=3;i=5015 ns=3;i=5019 GettingReady i=2307 ns=3;i=6031 StateNumber i=78 i=68 2 GettingReadyToStandBy i=2310 ns=3;i=5017 ns=3;i=5015 i=2311 ns=3;i=6032 TransitionNumber i=78 i=68 2 LastTransition i=78 i=2767 ns=3;i=6028 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6034 ns=3;i=6035 EnumValues i=68 i=78 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid StandBy i=2309 ns=3;i=6030 StateNumber i=78 i=68 1 StandByToGettingReady i=2310 ns=3;i=5017 ns=3;i=5015 i=2311 ns=3;i=6033 TransitionNumber i=78 i=68 1 OperationStateMachineType https://reference.opcfoundation.org/Robotics/v100/docs/7.10.1 i=2771 i=2311 ns=3;i=6009 ns=3;i=5007 ns=3;i=5013 ns=3;i=5011 ns=3;i=5005 ns=3;i=5014 ns=3;i=5009 ns=3;i=6005 ns=3;i=6007 ns=3;i=6008 ns=3;i=5006 ns=3;i=5012 ns=3;i=5008 ns=3;i=7001 ns=3;i=7002 ConfiguredDefaultStopMode i=80 i=63 Executing Entity is in a condition of execution. i=2307 ns=3;i=6012 StateNumber i=78 i=68 3 ExecutingToIdle Changes from Executing to Idle i=2310 ns=3;i=5007 ns=3;i=5005 i=2311 ns=3;i=6018 TransitionNumber i=78 i=68 6 ExecutingToReady Changes from Executing to Ready i=2310 ns=3;i=5007 ns=3;i=5006 ns=3;i=7002 i=2311 ns=3;i=6016 TransitionNumber i=78 i=68 5 Idle Entity is not in a condition to start execution. i=2307 ns=3;i=6010 StateNumber i=78 i=68 1 IdleToIdle Changes from Idle to Idle. i=2310 ns=3;i=5005 ns=3;i=5005 i=2311 ns=3;i=6019 TransitionNumber i=78 i=68 1 IdleToReady Changes from Idle to Ready i=2310 ns=3;i=5005 ns=3;i=5006 i=2311 ns=3;i=6015 TransitionNumber i=78 i=68 2 LastTransition i=78 i=2767 ns=3;i=6006 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6020 ns=3;i=6021 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid PossibleStopModes i=80 i=63 i=7616 1 en OnPath en Stop program execution in a controlled manner along the programmed path i=7616 2 en EndOfCycle en Stop program execution when the current production cycle has been finished i=7616 3 en ProcessStop en Application dependent stop instruction that stops program execution at a favourable point for the application, e.g. at the end of a paint stroke or sealing bead i=7616 4 en QuickStop en This stop is performed by ramping down motion as fast as possible using optimum motor performance. The robot may not stay on the path i=7616 5 en EndOfInstruction en This stop can be used to stop the program execution when the current instruction is completed Ready Entity is in a condition to start execution. i=2307 ns=3;i=6011 StateNumber i=78 i=68 2 ReadyToExecuting Changes from Ready to Executing i=2310 ns=3;i=5007 ns=3;i=5006 ns=3;i=7001 i=2311 ns=3;i=6017 TransitionNumber i=78 i=68 4 ReadyToIdle Changes from Ready to Idle i=2310 ns=3;i=5005 ns=3;i=5006 i=2311 ns=3;i=6014 TransitionNumber i=78 i=68 3 Start https://reference.opcfoundation.org/Robotics/v100/docs/7.10.1 i=80 ns=3;i=6023 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors Stop https://reference.opcfoundation.org/Robotics/v100/docs/7.10.2 i=80 ns=3;i=6024 ns=3;i=6025 InputArguments i=78 i=68 i=297 StopMode i=8 -1 provides a way to differentiate between different stop modes. This parameter should correspond to one of the values in the PossibleStopModes array OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors SystemOperationStateMachineType Rob System Monitor Rob System Operation Rob System Events Rob System Idle Substate Rob System ExecutingSubstate https://reference.opcfoundation.org/Robotics/v100/docs/7.12.1 ns=3;i=1006 i=2311 ns=3;i=6057 ns=3;i=5032 ns=3;i=5028 ns=3;i=5038 ns=3;i=5037 ns=3;i=7006 ns=3;i=5030 ns=3;i=5027 ns=3;i=5033 ns=3;i=5034 ns=3;i=6058 ns=3;i=6060 ns=3;i=6063 ns=3;i=5031 ns=3;i=5036 ns=3;i=5035 ns=3;i=7007 ns=3;i=7004 ns=3;i=7005 ConfiguredDefaultStopMode i=80 i=63 Executing i=2307 ns=3;i=5028 ns=3;i=6087 StateNumber i=78 i=68 3 ExecutingSubstateMachine i=80 ns=3;i=1007 ns=3;i=6083 ns=3;i=6078 ns=3;i=6080 CurrentState i=78 i=2760 ns=3;i=6084 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6079 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6081 ns=3;i=6082 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid ExecutingToIdle i=2310 ns=3;i=5032 ns=3;i=5030 i=2311 ns=3;i=6093 TransitionNumber i=78 i=68 6 ExecutingToReady i=2310 ns=3;i=5032 ns=3;i=5031 ns=3;i=7005 i=2311 ns=3;i=6092 TransitionNumber i=78 i=68 5 GetReady Rob System Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.12.3 i=80 ns=3;i=6068 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors Idle i=2307 ns=3;i=5027 ns=3;i=6085 StateNumber i=78 i=68 1 IdleSubstateMachine i=80 ns=3;i=1009 ns=3;i=6076 ns=3;i=6071 ns=3;i=6073 CurrentState i=78 i=2760 ns=3;i=6077 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6072 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6074 ns=3;i=6075 EnumValues i=78 i=68 i=7616 0 ValueAsText i=78 i=68 Invalid IdleToIdle i=2310 ns=3;i=5030 ns=3;i=5030 ns=3;i=7007 i=2311 ns=3;i=6088 TransitionNumber i=78 i=68 1 IdleToReady i=2310 ns=3;i=7006 ns=3;i=5030 ns=3;i=5031 i=2311 ns=3;i=6089 TransitionNumber i=78 i=68 2 LastTransition i=78 i=2767 ns=3;i=6059 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6061 ns=3;i=6062 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid PossibleStopModes i=80 i=63 i=7616 1 en OnPath en Stop program execution in a controlled manner along the programmed path i=7616 2 en EndOfCycle en Stop program execution when the current production cycle has been finished i=7616 3 en ProcessStop en Application dependent stop instruction that stops program execution at a favourable point for the application, e.g. at the end of a paint stroke or sealing bead i=7616 4 en QuickStop en This stop is performed by ramping down motion as fast as possible using optimum motor performance. The robot may not stay on the path i=7616 5 en EndOfInstruction en This stop can be used to stop the program execution when the current instruction is completed Ready i=2307 ns=3;i=6086 StateNumber i=78 i=68 2 ReadyToExecuting i=2310 ns=3;i=5032 ns=3;i=5031 ns=3;i=7004 i=2311 ns=3;i=6091 TransitionNumber i=78 i=68 4 ReadyToIdle i=2310 ns=3;i=5030 ns=3;i=5031 ns=3;i=7007 i=2311 ns=3;i=6090 TransitionNumber i=78 i=68 3 StandDown Rob System Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.12.4 i=80 ns=3;i=6070 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors Start Rob System Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.12.1 i=80 ns=3;i=6064 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors Stop Rob System Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.12.2 i=80 ns=3;i=6065 ns=3;i=6066 InputArguments i=78 i=68 i=297 StopMode i=8 -1 provides a way to differentiate between different stop modes. This parameter should correspond to one of the values in the PossibleStopModes array OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors TaskControlStateMachineType Rob Task Control Monitor Rob Task Control Operation Rob Task Control ReadySubstate Rob System Events https://reference.opcfoundation.org/Robotics/v100/docs/7.16.1 ns=3;i=1006 i=2311 ns=3;i=6094 ns=3;i=5042 ns=3;i=5048 ns=3;i=5047 ns=3;i=5040 ns=3;i=5043 ns=3;i=5044 ns=3;i=6095 ns=3;i=6097 ns=3;i=7011 ns=3;i=7010 ns=3;i=6100 ns=3;i=5041 ns=3;i=5039 ns=3;i=5046 ns=3;i=5045 ns=3;i=7008 ns=3;i=7009 ns=3;i=7014 ns=3;i=7013 ns=3;i=7012 ConfiguredDefaultStopMode i=80 i=63 Executing i=2307 ns=3;i=6114 StateNumber i=78 i=68 3 ExecutingToIdle i=2310 ns=3;i=5042 ns=3;i=5040 i=2311 ns=3;i=6122 TransitionNumber i=78 i=68 6 ExecutingToReady i=2310 ns=3;i=5042 ns=3;i=5041 ns=3;i=7009 i=2311 ns=3;i=6121 TransitionNumber i=78 i=68 5 Idle i=2307 ns=3;i=6112 StateNumber i=78 i=68 1 IdleToIdle i=2310 ns=3;i=5040 ns=3;i=5040 i=2311 ns=3;i=6115 TransitionNumber i=78 i=68 1 IdleToReady i=2310 ns=3;i=5040 ns=3;i=7011 ns=3;i=7010 ns=3;i=5041 i=2311 ns=3;i=6116 TransitionNumber i=78 i=68 2 LastTransition i=78 i=2767 ns=3;i=6096 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6098 ns=3;i=6099 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid LoadByName Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.3 i=80 ns=3;i=6143 ns=3;i=6144 InputArguments i=78 i=68 i=297 Name i=12 -1 Name to identify a task control program or module OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK – Everything is OK 1 – E_SystemState – The system is not in correct state for this operation 2 – E_UnexpectedError – Unexpected Error during the method call 3 – E_ActiveAlarm – An Active Alarm prevents the system start 4 – E_AcknowledgeRequired – Condition needs to be acknowledged <0 – shall be used for vendor-specific errors >0 – are reserved for errors defined by this and future standards LoadByNodeId Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.2 i=80 ns=3;i=6141 ns=3;i=6142 InputArguments i=78 i=68 i=297 Id i=18 -1 ExpandedNodeId pointing to an instance of FileType representing a task control program or module OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK – Everything is OK 1 – E_SystemState – The system is not in correct state for this operation 2 – E_UnexpectedError – Unexpected Error during the method call 3 – E_ActiveAlarm – An Active Alarm prevents the system start 4 – E_AcknowledgeRequired – Condition needs to be acknowledged <0 – shall be used for vendor-specific errors >0 – are reserved for errors defined by this and future standards PossibleStopModes i=80 i=63 i=7616 1 en OnPath en Stop program execution in a controlled manner along the programmed path i=7616 2 en EndOfCycle en Stop program execution when the current production cycle has been finished i=7616 3 en ProcessStop en Application dependent stop instruction that stops program execution at a favourable point for the application, e.g. at the end of a paint stroke or sealing bead i=7616 4 en QuickStop en This stop is performed by ramping down motion as fast as possible using optimum motor performance. The robot may not stay on the path i=7616 5 en EndOfInstruction en This stop can be used to stop the program execution when the current instruction is completed Ready i=2307 ns=3;i=5039 ns=3;i=6113 StateNumber i=78 i=68 2 ReadySubstateMachine i=80 ns=3;i=1012 ns=3;i=6109 ns=3;i=6104 ns=3;i=6106 CurrentState i=78 i=2760 ns=3;i=6111 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6105 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6107 ns=3;i=6108 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid ReadyToExecuting i=2310 ns=3;i=5042 ns=3;i=5041 ns=3;i=7008 i=2311 ns=3;i=6120 TransitionNumber i=78 i=68 4 ReadyToIdle i=2310 ns=3;i=5040 ns=3;i=5041 i=2311 ns=3;i=7014 ns=3;i=7013 ns=3;i=7012 ns=3;i=6119 TransitionNumber i=78 i=68 3 Start Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.7 i=80 ns=3;i=6101 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors Stop Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.8 i=80 ns=3;i=6102 ns=3;i=6103 InputArguments i=78 i=68 i=297 StopMode i=8 -1 provides a way to differentiate between different stop modes. This parameter should correspond to one of the values in the PossibleStopModes array OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK Values > 0 are reserved for errors defined by this and future standards. Values < 0 shall be used for application-specific errors UnloadByName Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.6 i=80 ns=3;i=6067 ns=3;i=6069 InputArguments i=78 i=68 i=297 Name i=12 -1 OutputArguments i=78 i=68 i=297 Status i=6 -1 UnloadByNodeId Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.5 i=80 ns=3;i=6146 ns=3;i=6147 InputArguments i=78 i=68 i=297 Id i=18 -1 Expanded NodeId of the module to be unloaded OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK – Everything is OK 1 – E_SystemState – The system is not in correct state for this operation 2 – E_UnexpectedError – Unexpected Error during the method call 3 – E_ActiveAlarm – An Active Alarm prevents the system start 4 – E_AcknowledgeRequired – Condition needs to be acknowledged <0 – shall be used for vendor-specific errors >0 – are reserved for errors defined by this and future standards UnloadProgram Rob Task Control Operation https://reference.opcfoundation.org/Robotics/v100/docs/7.16.4 i=80 ns=3;i=6145 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK – Everything is OK 1 – E_SystemState – The system is not in correct state for this operation 2 – E_UnexpectedError – Unexpected Error during the method call 3 – E_ActiveAlarm – An Active Alarm prevents the system start 4 – E_AcknowledgeRequired – Condition needs to be acknowledged <0 – shall be used for vendor-specific errors >0 – are reserved for errors defined by this and future standards ReadySubstateMachineType Rob Task Control ReadySubstate Rob Task Control Ready Reset https://reference.opcfoundation.org/Robotics/v100/docs/7.17.1 i=2771 i=2311 ns=3;i=5023 ns=3;i=6044 ns=3;i=6046 ns=3;i=5025 ns=3;i=7003 ns=3;i=5024 ns=3;i=5026 AtProgramStart i=2307 ns=3;i=6049 StateNumber i=78 i=68 1 LastTransition i=78 i=2767 ns=3;i=6045 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6047 ns=3;i=6048 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid ProgramStartToSuspended i=2310 ns=3;i=5023 ns=3;i=5024 i=2311 ns=3;i=6051 TransitionNumber i=78 i=68 1 ResetToProgramStart Task Control Ready Reset https://reference.opcfoundation.org/Robotics/v100/docs/7.17.2 i=80 ns=3;i=6053 OutputArguments i=78 i=68 i=297 Status i=6 -1 0 – OK – Everything is OK 1 – E_SystemState – The system is not in correct state for this operation 2 – E_UnexpectedError – Unexpected Error during the method call 3 – E_ActiveAlarm – An Active Alarm prevents the system start 4 – E_AcknowledgeRequired – Condition needs to be acknowledged <0 – shall be used for vendor-specific errors >0 – are reserved for errors defined by this and future standards Suspended i=2307 ns=3;i=6050 StateNumber i=78 i=68 2 SuspendedToProgramStart i=2310 ns=3;i=5023 ns=3;i=7003 ns=3;i=5024 i=2311 ns=3;i=6052 TransitionNumber i=78 i=68 2 SystemOperationType Rob System Monitor Rob System Operation Rob RobAckCondInstance https://reference.opcfoundation.org/Robotics/v100/docs/7.11.2 i=58 ns=3;i=5050 ns=3;i=6130 ns=3;i=5049 Conditions i=80 i=61 ns=3;i=5059 <AcknowledgeableCondition> i=11510 i=2881 ns=3;i=6185 ns=3;i=7019 ns=3;i=7020 ns=3;i=6191 ns=3;i=6192 ns=3;i=6193 ns=3;i=6195 ns=3;i=6196 ns=3;i=6197 ns=3;i=6198 ns=3;i=6199 ns=3;i=7021 ns=3;i=7022 ns=3;i=6188 ns=3;i=6205 ns=3;i=6206 ns=3;i=6200 ns=3;i=6207 ns=3;i=6202 ns=3;i=6208 ns=3;i=6204 ns=3;i=6209 ns=3;i=6210 ns=3;i=6211 ns=3;i=6212 AckedState i=78 i=8995 ns=3;i=6186 Id i=78 i=68 Acknowledge i=78 ns=3;i=6187 InputArguments i=78 i=68 i=297 EventId i=15 -1 The identifier for the event to comment. i=297 Comment i=21 -1 The comment to add to the condition. AddComment i=78 ns=3;i=6190 InputArguments i=78 i=68 i=297 EventId i=15 -1 The identifier for the event to comment. i=297 Comment i=21 -1 The comment to add to the condition. BranchId i=78 i=68 ClientUserId i=78 i=68 Comment i=78 i=9002 ns=3;i=6194 SourceTimestamp i=78 i=68 ConditionClassId i=78 i=68 ConditionClassName i=78 i=68 ConditionName i=78 i=68 ConditionSubClassId i=78 i=68 ConditionSubClassName i=78 i=68 Disable i=78 Enable i=78 EnabledState i=78 i=8995 ns=3;i=6185 ns=3;i=6189 Id i=78 i=68 EventId i=78 i=68 EventType i=78 i=68 LastSeverity i=78 i=9002 ns=3;i=6201 SourceTimestamp i=78 i=68 Message i=78 i=68 Quality i=78 i=9002 ns=3;i=6203 SourceTimestamp i=78 i=68 ReceiveTime i=78 i=68 Retain i=78 i=68 Severity i=78 i=68 SourceName i=78 i=68 SourceNode i=78 i=68 Time i=78 i=68 DefaultInstanceBrowseName i=68 2 SystemOperation SystemOperationStateMachine i=78 ns=3;i=1021 ns=3;i=6128 ns=3;i=6123 ns=3;i=6125 CurrentState i=78 i=2760 ns=3;i=6129 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6124 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6126 ns=3;i=6127 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid TaskControlOperationType Rob Task Control Monitor Rob Task Control Operation Rob TC MD Relationship https://reference.opcfoundation.org/Robotics/v100/docs/7.15.1 i=58 ns=3;i=6132 ns=3;i=6131 ns=3;i=5051 DefaultInstanceBrowseName i=68 3 TaskControlOperation MotionDevicesUnderControl i=80 i=68 TaskControlStateMachine i=78 ns=3;i=1025 ns=3;i=6138 ns=3;i=6133 ns=3;i=6135 CurrentState i=78 i=2760 ns=3;i=6139 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6134 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6136 ns=3;i=6137 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid TaskModuleType Rob Task Control Modules https://reference.opcfoundation.org/Robotics/v100/docs/7.22.2 i=58 ns=3;i=6056 ns=3;i=6054 ns=3;i=6055 IsReferenced i=80 i=68 Name i=78 i=68 Version i=80 i=68 AuxiliaryComponentType Components mounted in a controller cabinet or a motion device e.g. an IO-board or a power supply. https://reference.opcfoundation.org/Robotics/v100/docs/7.19.2 ns=1;i=15063 ns=3;i=6183 ns=3;i=17756 AssetId i=68 i=80 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 AxisType The AxisType describes an axis of a motion device. Rob MotionDeviceSystem Base Rob Axis AM Extended Rob Axis CM Extended Rob Axis AdditionalLoad https://reference.opcfoundation.org/Robotics/v100/docs/7.3.2 ns=1;i=15063 ns=3;i=18344 ns=3;i=16638 ns=3;i=6175 ns=3;i=16637 ns=3;i=16602 <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=3;i=16794 i=11508 ns=3;i=15998 AdditionalLoad The additional load which is mounted on this axis. E.g. for process-need a transformer for welding. ns=3;i=1018 i=80 ns=3;i=16639 Mass The weight of the load mounted on one mounting point. i=17497 i=78 ns=3;i=16644 EngineeringUnits i=68 i=78 AssetId i=68 i=80 MotionProfile The kind of axis motion as defined with the AxisMotionProfileEnumeration. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=16674 ns=3;i=16662 ns=3;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. i=17497 i=80 ns=3;i=16679 EngineeringUnits i=68 i=78 ActualPosition The axis position inclusive Unit and RangeOfMotion. i=17497 i=78 ns=3;i=16667 EngineeringUnits i=68 i=78 ActualSpeed The axis speed on load side (after gear/spindle) inclusive Unit. i=17497 i=80 ns=3;i=16673 EngineeringUnits i=68 i=78 ControllerType The ControllerType describes the control unit of motion devices. One motion device system can have one or more instances of the ControllerType. Rob System Monitor Rob System Operation Rob Program File Directory Rob System Events Rob Controller AM Extended Rob Controller AM Extended Rob MotionDeviceSystem Base https://reference.opcfoundation.org/Robotics/v100/docs/7.18.2 ns=1;i=15063 ns=3;i=18964 ns=3;i=18918 ns=3;i=6180 ns=3;i=6181 ns=3;i=17252 ns=3;i=17249 ns=3;i=6182 ns=3;i=17237 ns=3;i=17239 ns=3;i=5004 ns=3;i=17245 ns=3;i=5054 ns=3;i=17240 ns=3;i=15800 ns=3;i=5055 ns=3;i=15826 <MotionDeviceIdentifier> The relationship of a motion device and controller. ns=3;i=1004 i=11508 ns=3;i=19002 ns=3;i=18985 ns=3;i=18987 ns=3;i=18998 ns=3;i=18965 ns=3;i=19080 ns=3;i=18993 ns=3;i=18988 ns=3;i=6003 Axes Axes is a container for one or more instances of the AxisType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.10 i=61 i=78 ns=3;i=15743 Manufacturer i=68 i=78 Model i=68 i=78 MotionDeviceCategory The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=19001 SpeedOverride SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%). i=63 i=78 PowerTrains PowerTrains is a container for one or more instances of the PowerTrainType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.11 i=61 i=78 ns=3;i=15905 ProductCode i=68 i=78 SerialNumber i=68 i=78 TaskControlReference i=80 i=63 <SafetyStatesIdentifier> The relationship of safety states to a controller. ns=3;i=1013 i=11508 ns=3;i=18919 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=18962 ns=3;i=18961 ns=3;i=18963 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 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 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 AssetId i=68 i=80 ComponentName i=68 i=80 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/Robotics/v100/docs/7.18.2 i=61 i=80 ns=3;i=18813 <ComponentIdentifier> The intention is to integrate inside this container devices which are defined in other companion specifications using DI. i=11510 ns=1;i=15063 ns=1;i=15048 ns=1;i=15035 CurrentUser The current user of the system. ns=3;i=18175 i=78 ns=3;i=17250 Level The weight of the load mounted on one mounting point. i=68 i=78 DeviceManual i=68 i=80 Manufacturer i=68 i=78 Model i=68 i=78 ParameterSet Flat list of Parameters i=58 i=80 ns=3;i=17365 ns=3;i=17371 ns=3;i=17377 ns=3;i=15366 ns=3;i=17383 ns=3;i=17359 ns=3;i=17358 ns=3;i=15365 CabinetFanSpeed The speed of the cabinet fan. i=17497 i=80 ns=3;i=17370 EngineeringUnits i=68 i=78 CPUFanSpeed The speed of the CPU fan. i=17497 i=80 ns=3;i=17376 EngineeringUnits i=68 i=78 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. i=17497 i=80 ns=3;i=17382 EngineeringUnits i=68 i=78 StartUpTime The date and time of the last start-up of the controller. i=63 i=80 Temperature The controller temperature given by a temperature sensor inside of the controller. i=17497 i=80 ns=3;i=17388 EngineeringUnits i=68 i=78 TotalEnergyConsumption The total accumulated energy consumed by the motion devices related with this controller instance. i=17497 i=80 ns=3;i=17364 EngineeringUnits i=68 i=78 TotalPowerOnTime The total accumulated time the controller was powered on. i=63 i=80 UpsState The vendor specific status of an integrated UPS or accumulator system. i=63 i=80 ProductCode i=68 i=78 Programs i=80 i=13353 ns=3;i=7015 ns=3;i=7016 ns=3;i=7017 ns=3;i=7018 CreateDirectory i=78 ns=3;i=6155 ns=3;i=6156 InputArguments i=78 i=68 i=297 DirectoryName i=12 -1 OutputArguments i=78 i=68 i=297 DirectoryNodeId i=17 -1 CreateFile i=78 ns=3;i=6157 ns=3;i=6158 InputArguments i=78 i=68 i=297 FileName i=12 -1 i=297 RequestFileOpen i=1 -1 OutputArguments i=78 i=68 i=297 FileNodeId i=17 -1 i=297 FileHandle i=7 -1 Delete i=78 ns=3;i=6159 InputArguments i=78 i=68 i=297 ObjectToDelete i=17 -1 MoveOrCopy i=78 ns=3;i=6160 ns=3;i=6161 InputArguments i=78 i=68 i=297 ObjectToMoveOrCopy i=17 -1 i=297 TargetDirectory i=17 -1 i=297 CreateCopy i=1 -1 i=297 NewName i=12 -1 OutputArguments i=78 i=68 i=297 NewNodeId i=17 -1 SerialNumber i=68 i=78 Software Software is a container for one or more instances of SoftwareType defined in OPC UA DI. https://reference.opcfoundation.org/Robotics/v100/docs/7.8.3/#7.8.3.10 i=61 i=78 ns=3;i=18847 <SoftwareIdentifier> i=11510 ns=1;i=15106 ns=3;i=18868 ns=3;i=18870 ns=3;i=18873 Manufacturer i=68 i=78 Model i=68 i=78 SoftwareRevision i=68 i=78 SystemOperation i=80 ns=3;i=1028 ns=3;i=5056 SystemOperationStateMachine i=78 ns=3;i=1021 ns=3;i=6162 ns=3;i=6164 ns=3;i=6166 CurrentState i=78 i=2760 ns=3;i=6163 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6165 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6167 ns=3;i=6168 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid TaskControls TaskControls is a container for one or more instances of TaskControlType. https://reference.opcfoundation.org/Robotics/v100/docs/7.8.3/#7.8.3.11 i=61 i=78 ns=3;i=18881 <TaskControlIdentifier> ns=3;i=1011 i=11510 ns=3;i=18914 ns=3;i=18882 ComponentName A user writable name provided by the vendor, integrator or user of the device. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=18916 ns=3;i=18915 TaskProgramLoaded The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise. i=63 i=78 TaskProgramName A customer given identifier for the task program. i=63 i=78 DriveType Drives (multi-slot or single-slot axis amplifier) mounted in a controller cabinet or a motion device. https://reference.opcfoundation.org/Robotics/v100/docs/7.20.2 ns=1;i=15063 ns=3;i=6184 ns=3;i=17824 AssetId i=68 i=80 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 GearType The GearType describes a gear in a powertrain, e.g. a gear box or a spindle. Rob Gear CM Extended Rob Gear AM Extended https://reference.opcfoundation.org/Robotics/v100/docs/7.6.2 ns=1;i=15063 ns=3;i=6178 ns=3;i=15941 ns=3;i=17152 ns=3;i=17154 ns=3;i=17165 ns=3;i=17160 ns=3;i=17155 AssetId i=68 i=80 GearRatio The transmission ratio of the gear expressed as a fraction as input velocity (motor side) by output velocity (load side). i=17709 i=78 ns=3;i=15616 ns=3;i=15615 Denominator i=63 i=78 Numerator i=63 i=78 Manufacturer i=68 i=78 Model i=68 i=78 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 ProductCode i=68 i=78 SerialNumber i=68 i=78 MotionDeviceSystemType Contains the set of controllers and motion devices in a closely-coupled motion device system. Rob MotionDeviceSystem Base https://reference.opcfoundation.org/Robotics/v100/docs/7.1.2 ns=1;i=15063 ns=3;i=6171 ns=3;i=5001 ns=3;i=5002 ns=3;i=5010 ComponentName i=68 i=80 Controllers Contains the set of controllers in the motion device system. https://reference.opcfoundation.org/Robotics/v100/docs/7.1.2 i=61 i=78 ns=3;i=15405 <ControllerIdentifier> ns=3;i=1003 i=11510 ns=3;i=15440 ns=3;i=15426 ns=3;i=15428 ns=3;i=15434 ns=3;i=15429 ns=3;i=15483 ns=3;i=15518 CurrentUser The given name of the device. ns=3;i=18175 i=78 ns=3;i=15441 Level The weight of the load mounted on one mounting point. i=68 i=78 Manufacturer i=68 i=78 Model i=68 i=78 ProductCode i=68 i=78 SerialNumber i=68 i=78 Software Software is a container for one or more instances of SoftwareType defined in OPC UA DI. https://reference.opcfoundation.org/Robotics/v100/docs/7.8.3/#7.8.3.10 i=61 i=78 ns=3;i=18847 TaskControls TaskControls is a container for one or more instances of TaskControlType. https://reference.opcfoundation.org/Robotics/v100/docs/7.8.3/#7.8.3.11 i=61 i=78 ns=3;i=18881 MotionDevices Contains any kinematic or motion device which is part of the motion device system. https://reference.opcfoundation.org/Robotics/v100/docs/7.1.2 i=61 i=78 ns=3;i=15008 <MotionDeviceIdentifier> ns=3;i=1004 i=11510 ns=3;i=15062 ns=3;i=15045 ns=3;i=15047 ns=3;i=15058 ns=3;i=15024 ns=3;i=15208 ns=3;i=15053 ns=3;i=15048 ns=3;i=6002 Axes Axes is a container for one or more instances of the AxisType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.10 i=61 i=78 ns=3;i=15743 Manufacturer i=68 i=78 Model i=68 i=78 MotionDeviceCategory The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=15061 SpeedOverride SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%). i=63 i=78 PowerTrains PowerTrains is a container for one or more instances of the PowerTrainType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.11 i=61 i=78 ns=3;i=15905 ProductCode i=68 i=78 SerialNumber i=68 i=78 TaskControlReference i=80 i=63 SafetyStates Contains safety-related data from motion device system. https://reference.opcfoundation.org/Robotics/v100/docs/7.1.2 i=61 i=78 ns=3;i=15697 <SafetyStateIdentifier> ns=3;i=1013 i=11510 ns=3;i=15698 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=15741 ns=3;i=15740 ns=3;i=15742 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 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 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 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. Rob MotionDeviceSystem Base Rob MotionDevice AM Extended Rob MotionDevice CM Extended Rob MotionDevice Flangeload Rob TC Relationship https://reference.opcfoundation.org/Robotics/v100/docs/7.2.2 ns=1;i=15063 ns=3;i=16566 ns=3;i=6172 ns=3;i=15305 ns=3;i=6173 ns=3;i=6174 ns=3;i=5091 ns=3;i=16351 ns=3;i=16353 ns=3;i=16362 ns=3;i=5029 ns=3;i=16443 ns=3;i=16359 ns=3;i=16354 ns=3;i=6001 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/Robotics/v100/docs/7.2.3/#7.2.3.13 i=61 i=80 ns=3;i=5003 <AdditionalComponentIdentifier> i=11510 i=58 AssetId i=68 i=80 Axes Axes is a container for one or more instances of the AxisType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.10 i=61 i=78 ns=3;i=15743 <AxisIdentifier> ns=3;i=16601 i=11510 ns=3;i=15808 ns=3;i=15744 MotionProfile The kind of axis motion as defined with the AxisMotionProfileEnumeration. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=15863 ActualPosition The axis position inclusive Unit and RangeOfMotion. i=17497 i=78 ns=3;i=15869 EngineeringUnits i=68 i=78 ComponentName i=68 i=80 DeviceManual i=68 i=80 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=3;i=1018 i=80 ns=3;i=6624 Mass The weight of the load mounted on one mounting point. i=17497 i=78 ns=3;i=15659 EngineeringUnits i=68 i=78 Manufacturer i=68 i=78 Model i=68 i=78 MotionDeviceCategory The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=16364 ns=3;i=16363 ns=3;i=16365 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 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 SpeedOverride SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%). i=63 i=78 PowerTrains PowerTrains is a container for one or more instances of the PowerTrainType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.11 i=61 i=78 ns=3;i=15905 <PowerTrainIdentifier> ns=3;i=16794 i=11510 ns=3;i=15998 ProductCode i=68 i=78 SerialNumber i=68 i=78 TaskControlReference i=80 i=63 MotorType The MotorType is for representing instances of electric motors. Rob MotionDeviceSystem Base Rob Motor AM Extended Rob Motor CM Extended https://reference.opcfoundation.org/Robotics/v100/docs/7.5.2 ns=1;i=15063 ns=3;i=5060 ns=3;i=6177 ns=3;i=17101 ns=3;i=17103 ns=3;i=5105 ns=3;i=17109 ns=3;i=17104 <DriveIdentifier> i=11508 i=58 AssetId i=68 i=80 Manufacturer i=68 i=78 Model i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=17150 ns=3;i=6776 ns=3;i=6757 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 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 MotorTemperature The motor temperature provides the temperature of the motor. If there is no temperature sensor the value is set to \"null\". i=17497 i=78 ns=3;i=6762 EngineeringUnits i=68 i=78 ProductCode i=68 i=78 SerialNumber i=68 i=78 PowerTrainType The PowerTrainType represents instances of powertrains of a motion device. Rob MotionDeviceSystem Base Rob PowerTrain AM Extended https://reference.opcfoundation.org/Robotics/v100/docs/7.4.2 ns=1;i=15063 ns=3;i=18536 ns=3;i=16041 ns=3;i=15998 ns=3;i=18613 ns=3;i=6176 <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=3;i=16601 i=11508 ns=3;i=18570 ns=3;i=18537 MotionProfile The kind of axis motion as defined with the AxisMotionProfileEnumeration. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=18595 ActualPosition The axis position inclusive Unit and RangeOfMotion. i=17497 i=78 ns=3;i=18600 EngineeringUnits i=68 i=78 <GearIdentifier> ns=3;i=1022 i=11508 ns=3;i=16076 ns=3;i=16062 ns=3;i=16064 ns=3;i=16068 ns=3;i=16071 GearRatio The transmission ratio of the gear expressed as a fraction as input velocity (motor side) by output velocity (load side). i=17709 i=78 ns=3;i=16078 ns=3;i=16077 Denominator i=63 i=78 Numerator i=63 i=78 Manufacturer i=68 i=78 Model i=68 i=78 ProductCode i=68 i=78 SerialNumber i=68 i=78 <MotorIdentifier> ns=3;i=1019 i=11510 ns=3;i=16019 ns=3;i=16021 ns=3;i=15999 ns=3;i=16025 ns=3;i=16028 Manufacturer i=68 i=78 Model i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=16034 MotorTemperature The motor temperature provides the temperature of the motor. If there is no temperature sensor the value is set to \"null\". i=17497 i=78 ns=3;i=16039 EngineeringUnits i=68 i=78 ProductCode i=68 i=78 SerialNumber i=68 i=78 <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=3;i=16794 i=11508 ns=3;i=15998 ComponentName i=68 i=80 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. Rob MotionDeviceSystem Base Rob Emergency Stop Function Rob Protective Stop Function https://reference.opcfoundation.org/Robotics/v100/docs/7.7.2 ns=1;i=15063 ns=3;i=6179 ns=3;i=17221 ns=3;i=5016 ns=3;i=17225 ComponentName i=68 i=80 EmergencyStopFunctions EmergencyStopFunctions is a container for one or more instances of the EmergencyStopFunctionType. https://reference.opcfoundation.org/Robotics/v100/docs/7.7.3/#7.7.3.2 i=61 i=80 ns=3;i=18806 <EmergencyStopFunctionIdentifier> ns=3;i=17230 i=11510 ns=3;i=18808 ns=3;i=18807 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 Name The Name of the EmergencyStopFunctionType provides a manufacturer-specific emergency stop function identifier within the safety system. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=15882 ns=3;i=15912 ns=3;i=15913 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 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 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 ProtectiveStopFunctions ProtectiveStopFunctions is a container for one or more instances of the ProtectiveStopFunctionType. https://reference.opcfoundation.org/Robotics/v100/docs/7.7.3/#7.7.3.3 i=61 i=80 ns=3;i=18809 <ProtectiveStopFunctionIdentifier> ns=3;i=17233 i=11510 ns=3;i=18812 ns=3;i=18811 ns=3;i=18810 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 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 Name The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system. i=68 i=78 TaskControlType Represents a specific task control active on the controller. Rob Task Control CM Extended Rob Task Control Monitor Rob Task Control Operation Rob Task Control Modules Rob MotionDeviceSystem Base https://reference.opcfoundation.org/Robotics/v100/docs/7.21.2 ns=1;i=15063 ns=3;i=19254 ns=3;i=17873 ns=3;i=15883 ns=3;i=5052 ns=3;i=5057 <MotionDeviceIdentifier> Controls is a reference to provide the relationship between a task control and a motion device. ns=3;i=1004 i=11508 ns=3;i=19292 ns=3;i=19275 ns=3;i=19277 ns=3;i=19288 ns=3;i=19255 ns=3;i=19370 ns=3;i=19283 ns=3;i=19278 ns=3;i=6004 Axes Axes is a container for one or more instances of the AxisType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.10 i=61 i=78 ns=3;i=15743 Manufacturer i=68 i=78 Model i=68 i=78 MotionDeviceCategory The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=19291 SpeedOverride SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%). i=63 i=78 PowerTrains PowerTrains is a container for one or more instances of the PowerTrainType. https://reference.opcfoundation.org/Robotics/v100/docs/7.2.3/#7.2.3.11 i=61 i=78 ns=3;i=15905 ProductCode i=68 i=78 SerialNumber i=68 i=78 TaskControlReference i=80 i=63 ComponentName A user writable name provided by the vendor, integrator or user of the device. i=68 i=78 ParameterSet Flat list of Parameters i=58 i=78 ns=3;i=17876 ns=3;i=17875 ns=3;i=17874 ExecutionMode Execution mode of the task control (continuous or step-wise). i=63 i=80 TaskProgramLoaded The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control, FALSE otherwise. i=63 i=78 TaskProgramName A customer given identifier for the task program. i=63 i=78 TaskControlOperation i=80 ns=3;i=1008 ns=3;i=5053 TaskControlStateMachine i=78 ns=3;i=1025 ns=3;i=6148 ns=3;i=6150 ns=3;i=6152 CurrentState i=78 i=2760 ns=3;i=6149 Id i=78 i=68 LastTransition i=78 i=2767 ns=3;i=6151 Id i=78 i=68 LastTransitionReason i=78 i=11238 ns=3;i=6153 ns=3;i=6154 EnumValues i=78 i=68 i=7616 0 en Unknown en Caused by an unknown reason i=7616 1 en External en Caused by external operation i=7616 2 en Direct en Caused by direct operation i=7616 3 en System en Caused by system specific behavior i=7616 4 en Error en Caused by an error i=7616 5 en Application en Caused explicitly by end user program logic ValueAsText i=78 i=68 Invalid TaskModules i=80 i=61 ns=3;i=5058 <TaskModule> ns=3;i=1016 i=11508 ns=3;i=6169 Name i=68 i=78 UserType The UserType ObjectType describes information of the registered user groups within the control system. Rob MotionDeviceSystem Base https://reference.opcfoundation.org/Robotics/v100/docs/7.24.2 i=58 ns=3;i=18176 ns=3;i=18177 Level Provides information about the access rights and determines what can be viewed, updated, or deleted by a user i=68 i=78 Name The name for the current user within the control system. i=68 i=80 http://opcfoundation.org/UA/Robotics/ https://reference.opcfoundation.org/Robotics/v100/docs/12.1 i=11715 i=11616 DefaultAccessRestrictions ns=3;i=15011 i=68 i=15704 i=15644 DefaultRolePermissions ns=3;i=15011 i=68 i=15704 i=15644 DefaultUserRolePermissions ns=3;i=15011 i=68 IsNamespaceSubset ns=3;i=15011 i=68 false NamespacePublicationDate ns=3;i=15011 i=68 2025-09-08T00:00:00Z NamespaceUri ns=3;i=15011 i=68 http://opcfoundation.org/UA/Robotics/ NamespaceVersion ns=3;i=15011 i=68 1.02 StaticNodeIdTypes ns=3;i=15011 i=68 0 StaticNumericNodeIdRange ns=3;i=15011 i=68 StaticStringNodeIdPattern ns=3;i=15011 i=68