node-red-contrib-opcua-server-refresh
Version:
Fork of the original 'node-red-contrib-opcua-server' package that is no longer maintained. This has been refactored to support the latest version of node-opcua and fixes incomplete/non-working features.
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text/xml
<?xml version="1.0" encoding="utf-8"?>
<!--
* Copyright (c) 2005-2020 The OPC Foundation, Inc. All rights reserved.
*
* OPC Foundation MIT License 1.00
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following
* conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*
* The complete license agreement can be found here:
* http://opcfoundation.org/License/MIT/1.00/
-->
<UANodeSet xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" LastModified="2021-05-20T00:00:00Z" xmlns="http://opcfoundation.org/UA/2011/03/UANodeSet.xsd">
<NamespaceUris>
<Uri>http://opcfoundation.org/UA/Robotics/</Uri>
<Uri>http://opcfoundation.org/UA/DI/</Uri>
</NamespaceUris>
<Models>
<Model ModelUri="http://opcfoundation.org/UA/Robotics/" Version="1.01.2" PublicationDate="2021-05-20T00:00:00Z">
<RequiredModel ModelUri="http://opcfoundation.org/UA/" Version="1.04" PublicationDate="2019-05-01T00:00:00Z" />
<RequiredModel ModelUri="http://opcfoundation.org/UA/DI/" Version="1.02" PublicationDate="2019-05-01T00:00:00Z" />
</Model>
</Models>
<Aliases>
<Alias Alias="Boolean">i=1</Alias>
<Alias Alias="SByte">i=2</Alias>
<Alias Alias="Byte">i=3</Alias>
<Alias Alias="Int16">i=4</Alias>
<Alias Alias="UInt16">i=5</Alias>
<Alias Alias="Int32">i=6</Alias>
<Alias Alias="UInt32">i=7</Alias>
<Alias Alias="Int64">i=8</Alias>
<Alias Alias="UInt64">i=9</Alias>
<Alias Alias="Float">i=10</Alias>
<Alias Alias="Double">i=11</Alias>
<Alias Alias="DateTime">i=13</Alias>
<Alias Alias="String">i=12</Alias>
<Alias Alias="ByteString">i=15</Alias>
<Alias Alias="Guid">i=14</Alias>
<Alias Alias="XmlElement">i=16</Alias>
<Alias Alias="NodeId">i=17</Alias>
<Alias Alias="ExpandedNodeId">i=18</Alias>
<Alias Alias="QualifiedName">i=20</Alias>
<Alias Alias="LocalizedText">i=21</Alias>
<Alias Alias="StatusCode">i=19</Alias>
<Alias Alias="Structure">i=22</Alias>
<Alias Alias="Number">i=26</Alias>
<Alias Alias="Integer">i=27</Alias>
<Alias Alias="UInteger">i=28</Alias>
<Alias Alias="HasComponent">i=47</Alias>
<Alias Alias="HasProperty">i=46</Alias>
<Alias Alias="Organizes">i=35</Alias>
<Alias Alias="HasEventSource">i=36</Alias>
<Alias Alias="HasNotifier">i=48</Alias>
<Alias Alias="HasSubtype">i=45</Alias>
<Alias Alias="HasTypeDefinition">i=40</Alias>
<Alias Alias="HasModellingRule">i=37</Alias>
<Alias Alias="HasEncoding">i=38</Alias>
<Alias Alias="HasDescription">i=39</Alias>
</Aliases>
<UAObject NodeId="ns=1;i=15011" BrowseName="1:http://opcfoundation.org/UA/Robotics/" SymbolicName="OPCUAROBOTICSNamespaceMetadata">
<DisplayName>http://opcfoundation.org/UA/Robotics/</DisplayName>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/9.1</Documentation>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=15034</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15064</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15091</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15114</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15145</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15173</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15209</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15583</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15584</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15585</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">i=11715</Reference>
<Reference ReferenceType="HasTypeDefinition">i=11616</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15034" BrowseName="NamespaceUri" ParentNodeId="ns=1;i=15011" DataType="String">
<DisplayName>NamespaceUri</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">http://opcfoundation.org/UA/Robotics/</String>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15064" BrowseName="NamespaceVersion" ParentNodeId="ns=1;i=15011" DataType="String">
<DisplayName>NamespaceVersion</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">1.01</String>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15091" BrowseName="NamespacePublicationDate" ParentNodeId="ns=1;i=15011" DataType="DateTime">
<DisplayName>NamespacePublicationDate</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<DateTime xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">2020-05-20T00:00:00Z</DateTime>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15114" BrowseName="IsNamespaceSubset" ParentNodeId="ns=1;i=15011" DataType="Boolean">
<DisplayName>IsNamespaceSubset</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<Boolean xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">false</Boolean>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15145" BrowseName="StaticNodeIdTypes" ParentNodeId="ns=1;i=15011" DataType="i=256" ValueRank="1" ArrayDimensions="0">
<DisplayName>StaticNodeIdTypes</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<ListOfInt32 xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
<Int32>0</Int32>
</ListOfInt32>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15173" BrowseName="StaticNumericNodeIdRange" ParentNodeId="ns=1;i=15011" DataType="i=291" ValueRank="1" ArrayDimensions="0">
<DisplayName>StaticNumericNodeIdRange</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15209" BrowseName="StaticStringNodeIdPattern" ParentNodeId="ns=1;i=15011" DataType="String">
<DisplayName>StaticStringNodeIdPattern</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
<Value>
<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
</String>
</Value>
</UAVariable>
<UAVariable NodeId="ns=1;i=15583" BrowseName="DefaultRolePermissions" ParentNodeId="ns=1;i=15011" DataType="i=96" ValueRank="1" ArrayDimensions="0">
<DisplayName>DefaultRolePermissions</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15584" BrowseName="DefaultUserRolePermissions" ParentNodeId="ns=1;i=15011" DataType="i=96" ValueRank="1" ArrayDimensions="0">
<DisplayName>DefaultUserRolePermissions</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15585" BrowseName="DefaultAccessRestrictions" ParentNodeId="ns=1;i=15011" DataType="i=95">
<DisplayName>DefaultAccessRestrictions</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011</Reference>
</References>
</UAVariable>
<UAObjectType NodeId="ns=1;i=1002" BrowseName="1:MotionDeviceSystemType">
<DisplayName>MotionDeviceSystemType</DisplayName>
<Description>Contains the set of controllers and motion devices in a closely-coupled motion device system.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=5002</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=5001</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=5010</Reference>
<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063</Reference>
</References>
</UAObjectType>
<UAObject NodeId="ns=1;i=5002" BrowseName="1:MotionDevices" ParentNodeId="ns=1;i=1002">
<DisplayName>MotionDevices</DisplayName>
<Description>Contains any kinematic or motion device which is part of the motion device system.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15008</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15008" BrowseName="1:<MotionDeviceIdentifier>" SymbolicName="MotionDeviceIdentifier" ParentNodeId="ns=1;i=5002">
<DisplayName><MotionDeviceIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15024</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15045</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15047</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15053</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15048</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15058</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15062</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15208</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=1004</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5002</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15024" BrowseName="2:ParameterSet" ParentNodeId="ns=1;i=15008">
<DisplayName>ParameterSet</DisplayName>
<Description>Flat list of Parameters</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15061</Reference>
<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15061" BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=15024" DataType="Double">
<DisplayName>SpeedOverride</DisplayName>
<Description>SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15024</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15045" BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=15008" DataType="LocalizedText">
<DisplayName>Manufacturer</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15047" BrowseName="2:Model" ParentNodeId="ns=1;i=15008" DataType="LocalizedText">
<DisplayName>Model</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15053" BrowseName="2:ProductCode" ParentNodeId="ns=1;i=15008" DataType="String">
<DisplayName>ProductCode</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15048" BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=15008" DataType="String">
<DisplayName>SerialNumber</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15058" BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=15008" DataType="ns=1;i=18193">
<DisplayName>MotionDeviceCategory</DisplayName>
<Description>The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=15062" BrowseName="1:Axes" ParentNodeId="ns=1;i=15008">
<DisplayName>Axes</DisplayName>
<Description>Axes is a container for one or more instances of the AxisType.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10</Documentation>
<References>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15208" BrowseName="1:PowerTrains" ParentNodeId="ns=1;i=15008">
<DisplayName>PowerTrains</DisplayName>
<Description>PowerTrains is a container for one or more instances of the PowerTrainType.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11</Documentation>
<References>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=5001" BrowseName="1:Controllers" ParentNodeId="ns=1;i=1002">
<DisplayName>Controllers</DisplayName>
<Description>Contains the set of controllers in the motion device system.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15405</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15405" BrowseName="1:<ControllerIdentifier>" SymbolicName="ControllerIdentifier" ParentNodeId="ns=1;i=5001">
<DisplayName><ControllerIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=15426</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15428</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15434</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15429</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15440</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15483</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15518</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=1003</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5001</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15426" BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=15405" DataType="LocalizedText">
<DisplayName>Manufacturer</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15428" BrowseName="2:Model" ParentNodeId="ns=1;i=15405" DataType="LocalizedText">
<DisplayName>Model</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15434" BrowseName="2:ProductCode" ParentNodeId="ns=1;i=15405" DataType="String">
<DisplayName>ProductCode</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15429" BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=15405" DataType="String">
<DisplayName>SerialNumber</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=15440" BrowseName="1:CurrentUser" ParentNodeId="ns=1;i=15405">
<DisplayName>CurrentUser</DisplayName>
<Description>The given name of the device.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=15441</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=18175</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15441" BrowseName="1:Level" ParentNodeId="ns=1;i=15440" DataType="String">
<DisplayName>Level</DisplayName>
<Description>The weight of the load mounted on one mounting point.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15440</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=15483" BrowseName="1:Software" ParentNodeId="ns=1;i=15405">
<DisplayName>Software</DisplayName>
<Description>Software is a container for one or more instances of SoftwareType defined in OPC UA DI.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.10</Documentation>
<References>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15518" BrowseName="1:TaskControls" ParentNodeId="ns=1;i=15405">
<DisplayName>TaskControls</DisplayName>
<Description>TaskControls is a container for one or more instances of TaskControlType.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.11</Documentation>
<References>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=5010" BrowseName="1:SafetyStates" ParentNodeId="ns=1;i=1002">
<DisplayName>SafetyStates</DisplayName>
<Description>Contains safety-related data from motion device system.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15697</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15697" BrowseName="1:<SafetyStateIdentifier>" SymbolicName="SafetyStateIdentifier" ParentNodeId="ns=1;i=5010">
<DisplayName><SafetyStateIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15698</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=1013</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5010</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15698" BrowseName="2:ParameterSet" ParentNodeId="ns=1;i=15697">
<DisplayName>ParameterSet</DisplayName>
<Description>Flat list of Parameters</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15740</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15741</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15742</Reference>
<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15697</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15740" BrowseName="1:OperationalMode" ParentNodeId="ns=1;i=15698" DataType="ns=1;i=3006">
<DisplayName>OperationalMode</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15741" BrowseName="1:EmergencyStop" ParentNodeId="ns=1;i=15698" DataType="Boolean">
<DisplayName>EmergencyStop</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15742" BrowseName="1:ProtectiveStop" ParentNodeId="ns=1;i=15698" DataType="Boolean">
<DisplayName>ProtectiveStop</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698</Reference>
</References>
</UAVariable>
<UAObjectType NodeId="ns=1;i=1004" BrowseName="1:MotionDeviceType">
<DisplayName>MotionDeviceType</DisplayName>
<Description>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.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=5029</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16351</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16353</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16359</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16354</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16362</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=15305</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16443</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=5091</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16566</Reference>
<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063</Reference>
</References>
</UAObjectType>
<UAObject NodeId="ns=1;i=5029" BrowseName="2:ParameterSet" ParentNodeId="ns=1;i=1004">
<DisplayName>ParameterSet</DisplayName>
<Description>Flat list of Parameters</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=16363</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16364</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16365</Reference>
<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=16363" BrowseName="1:OnPath" ParentNodeId="ns=1;i=5029" DataType="Boolean">
<DisplayName>OnPath</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16364" BrowseName="1:InControl" ParentNodeId="ns=1;i=5029" DataType="Boolean">
<DisplayName>InControl</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16365" BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=5029" DataType="Double">
<DisplayName>SpeedOverride</DisplayName>
<Description>SpeedOverride provides the current speed setting in percent of programmed speed (0 - 100%).</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16351" BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=1004" DataType="LocalizedText">
<DisplayName>Manufacturer</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16353" BrowseName="2:Model" ParentNodeId="ns=1;i=1004" DataType="LocalizedText">
<DisplayName>Model</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16359" BrowseName="2:ProductCode" ParentNodeId="ns=1;i=1004" DataType="String">
<DisplayName>ProductCode</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16354" BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=1004" DataType="String">
<DisplayName>SerialNumber</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16362" BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=1004" DataType="ns=1;i=18193">
<DisplayName>MotionDeviceCategory</DisplayName>
<Description>The variable MotionDeviceCategory provides the kind of motion device defined by MotionDeviceCategoryEnumeration based on ISO 8373.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=15305" BrowseName="1:Axes" ParentNodeId="ns=1;i=1004">
<DisplayName>Axes</DisplayName>
<Description>Axes is a container for one or more instances of the AxisType.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15743</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15743" BrowseName="1:<AxisIdentifier>" SymbolicName="AxisIdentifier" ParentNodeId="ns=1;i=15305">
<DisplayName><AxisIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15744</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=15808</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=16601</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15305</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15744" BrowseName="2:ParameterSet" ParentNodeId="ns=1;i=15743">
<DisplayName>ParameterSet</DisplayName>
<Description>Flat list of Parameters</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15863</Reference>
<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15743</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=15863" BrowseName="1:ActualPosition" ParentNodeId="ns=1;i=15744" DataType="Double">
<DisplayName>ActualPosition</DisplayName>
<Description>The axis position inclusive Unit and RangeOfMotion.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=15869</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15744</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15869" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=15863" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15863</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15808" BrowseName="1:MotionProfile" ParentNodeId="ns=1;i=15743" DataType="ns=1;i=3008">
<DisplayName>MotionProfile</DisplayName>
<Description>The kind of axis motion as defined with the AxisMotionProfileEnumeration.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15743</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=16443" BrowseName="1:PowerTrains" ParentNodeId="ns=1;i=1004">
<DisplayName>PowerTrains</DisplayName>
<Description>PowerTrains is a container for one or more instances of the PowerTrainType.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15905</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=15905" BrowseName="1:<PowerTrainIdentifier>" SymbolicName="PowerTrainIdentifier" ParentNodeId="ns=1;i=16443">
<DisplayName><PowerTrainIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=16794</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16443</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=5091" BrowseName="1:FlangeLoad" ParentNodeId="ns=1;i=1004">
<DisplayName>FlangeLoad</DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=6624</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=1018</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=6624" BrowseName="1:Mass" ParentNodeId="ns=1;i=5091" DataType="Double">
<DisplayName>Mass</DisplayName>
<Description>The weight of the load mounted on one mounting point.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=15659</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5091</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=15659" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=6624" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=6624</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=16566" BrowseName="1:AdditionalComponents" ParentNodeId="ns=1;i=1004">
<DisplayName>AdditionalComponents</DisplayName>
<Description>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.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.13</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=18310</Reference>
<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004</Reference>
</References>
</UAObject>
<UAObject NodeId="ns=1;i=18310" BrowseName="1:<AdditionalComponentIdentifier>" SymbolicName="AdditionalComponentIdentifier" ParentNodeId="ns=1;i=16566">
<DisplayName><AdditionalComponentIdentifier></DisplayName>
<References>
<Reference ReferenceType="i=17603">ns=2;i=15035</Reference>
<Reference ReferenceType="i=17603">ns=2;i=15048</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=2;i=15063</Reference>
<Reference ReferenceType="HasModellingRule">i=11510</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16566</Reference>
</References>
</UAObject>
<UAObjectType NodeId="ns=1;i=16601" BrowseName="1:AxisType">
<DisplayName>AxisType</DisplayName>
<Description>The AxisType describes an axis of a motion device.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.3.3/#7.3.3.4</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=16602</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16637</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16638</Reference>
<Reference ReferenceType="ns=1;i=18179">ns=1;i=18344</Reference>
<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063</Reference>
</References>
</UAObjectType>
<UAObject NodeId="ns=1;i=16602" BrowseName="2:ParameterSet" ParentNodeId="ns=1;i=16601">
<DisplayName>ParameterSet</DisplayName>
<Description>Flat list of Parameters</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=16662</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16668</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16674</Reference>
<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16601</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=16662" BrowseName="1:ActualPosition" ParentNodeId="ns=1;i=16602" DataType="Double">
<DisplayName>ActualPosition</DisplayName>
<Description>The axis position inclusive Unit and RangeOfMotion.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=16667</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16667" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16662" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16662</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16668" BrowseName="1:ActualSpeed" ParentNodeId="ns=1;i=16602" DataType="Double">
<DisplayName>ActualSpeed</DisplayName>
<Description>The axis speed on load side (after gear/spindle) inclusive Unit.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=16673</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16673" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16668" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16668</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16674" BrowseName="1:ActualAcceleration" ParentNodeId="ns=1;i=16602" DataType="Double">
<DisplayName>ActualAcceleration</DisplayName>
<Description>: The ActualAcceleration variable provides the axis acceleration. Applicable acceleration limits of the axis shall be provided by the EURange property of the AnalogUnitType.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=16679</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16679" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16674" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16674</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16637" BrowseName="1:MotionProfile" ParentNodeId="ns=1;i=16601" DataType="ns=1;i=3008">
<DisplayName>MotionProfile</DisplayName>
<Description>The kind of axis motion as defined with the AxisMotionProfileEnumeration.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16601</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=16638" BrowseName="1:AdditionalLoad" ParentNodeId="ns=1;i=16601">
<DisplayName>AdditionalLoad</DisplayName>
<Description>The additional load which is mounted on this axis. E.g. for process-need a transformer for welding.</Description>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=16639</Reference>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=1018</Reference>
<Reference ReferenceType="HasModellingRule">i=80</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16601</Reference>
</References>
</UAObject>
<UAVariable NodeId="ns=1;i=16639" BrowseName="1:Mass" ParentNodeId="ns=1;i=16638" DataType="Double">
<DisplayName>Mass</DisplayName>
<Description>The weight of the load mounted on one mounting point.</Description>
<References>
<Reference ReferenceType="HasProperty">ns=1;i=16644</Reference>
<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16638</Reference>
</References>
</UAVariable>
<UAVariable NodeId="ns=1;i=16644" BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16639" DataType="i=887">
<DisplayName>EngineeringUnits</DisplayName>
<References>
<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
<Reference ReferenceType="HasModellingRule">i=78</Reference>
<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16639</Reference>
</References>
</UAVariable>
<UAObject NodeId="ns=1;i=18344" BrowseName="1:<PowerTrainIdentifier>" SymbolicName="PowerTrainIdentifier" ParentNodeId="ns=1;i=16601">
<DisplayName><PowerTrainIdentifier></DisplayName>
<Description>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.</Description>
<References>
<Reference ReferenceType="HasTypeDefinition">ns=1;i=16794</Reference>
<Reference ReferenceType="HasModellingRule">i=11508</Reference>
<Reference ReferenceType="ns=1;i=18179" IsForward="false">ns=1;i=16601</Reference>
</References>
</UAObject>
<UAObjectType NodeId="ns=1;i=16794" BrowseName="1:PowerTrainType">
<DisplayName>PowerTrainType</DisplayName>
<Description>The PowerTrainType represents instances of powertrains of a motion device.</Description>
<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.4.2</Documentation>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15998</Reference>
<Reference ReferenceType="HasComponent">ns=1;i=16041</Reference>
<Reference ReferenceType="ns=1;i=18178">ns=1;i=18536</Reference>
<Reference ReferenceType="ns=1;i=18183">ns=1;i=18613</Reference>
<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063</Reference>
</References>
</UAObjectType>
<UAObject NodeId="ns=1;i=15998" BrowseName="1:<MotorIdentifier>" SymbolicName="MotorIdentifier" ParentNodeId="ns=1;i=16794">
<DisplayName><MotorIdentifier></DisplayName>
<References>
<Reference ReferenceType="HasComponent">ns=1;i=15999</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16019</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16021</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16025</Reference>
<Reference ReferenceType="HasProperty">ns=1;i=16028</Reference>