node-opcua-nodeset-robotics 2.159.0 → 2.162.0

package/LICENSE

@@ -1,7 +1,7 @@
 
 The MIT License (MIT)
 
-Copyright (c) 2022-2025  Sterfive SAS - 833264583 RCS ORLEANS - France (https://www.sterfive.com)
+Copyright (c) 2022-2026  Sterfive SAS - 833264583 RCS ORLEANS - France (https://www.sterfive.com)
 
 Copyright (c) 2014-2022 Etienne Rossignon
 

package/dist/index.d.ts

@@ -7,13 +7,23 @@ export * from "./ua_axis";
 export * from "./ua_controller";
 export * from "./ua_drive";
 export * from "./ua_emergency_stop_function";
+export * from "./ua_executing_substate_machine";
 export * from "./ua_gear";
+export * from "./ua_idle_substate_machine";
 export * from "./ua_load";
 export * from "./ua_motion_device";
 export * from "./ua_motion_device_system";
 export * from "./ua_motor";
+export * from "./ua_multi_acknowledgeable_condition";
+export * from "./ua_operation_state_machine";
 export * from "./ua_power_train";
 export * from "./ua_protective_stop_function";
+export * from "./ua_ready_substate_machine";
 export * from "./ua_safety_state";
+export * from "./ua_system_operation";
+export * from "./ua_system_operation_state_machine";
 export * from "./ua_task_control";
+export * from "./ua_task_control_operation";
+export * from "./ua_task_control_state_machine";
+export * from "./ua_task_module";
 export * from "./ua_user";

package/dist/index.js

@@ -23,14 +23,24 @@ __exportStar(require("./ua_axis"), exports);
 __exportStar(require("./ua_controller"), exports);
 __exportStar(require("./ua_drive"), exports);
 __exportStar(require("./ua_emergency_stop_function"), exports);
+__exportStar(require("./ua_executing_substate_machine"), exports);
 __exportStar(require("./ua_gear"), exports);
+__exportStar(require("./ua_idle_substate_machine"), exports);
 __exportStar(require("./ua_load"), exports);
 __exportStar(require("./ua_motion_device"), exports);
 __exportStar(require("./ua_motion_device_system"), exports);
 __exportStar(require("./ua_motor"), exports);
+__exportStar(require("./ua_multi_acknowledgeable_condition"), exports);
+__exportStar(require("./ua_operation_state_machine"), exports);
 __exportStar(require("./ua_power_train"), exports);
 __exportStar(require("./ua_protective_stop_function"), exports);
+__exportStar(require("./ua_ready_substate_machine"), exports);
 __exportStar(require("./ua_safety_state"), exports);
+__exportStar(require("./ua_system_operation"), exports);
+__exportStar(require("./ua_system_operation_state_machine"), exports);
 __exportStar(require("./ua_task_control"), exports);
+__exportStar(require("./ua_task_control_operation"), exports);
+__exportStar(require("./ua_task_control_state_machine"), exports);
+__exportStar(require("./ua_task_module"), exports);
 __exportStar(require("./ua_user"), exports);
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../source/index.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;AAAA,6DAA2C;AAC3C,wDAAsC;AACtC,gEAA8C;AAC9C,0DAAwC;AACxC,2DAAyC;AACzC,4CAA0B;AAC1B,kDAAgC;AAChC,6CAA2B;AAC3B,+DAA6C;AAC7C,4CAA0B;AAC1B,4CAA0B;AAC1B,qDAAmC;AACnC,4DAA0C;AAC1C,6CAA2B;AAC3B,mDAAiC;AACjC,gEAA8C;AAC9C,oDAAkC;AAClC,oDAAkC;AAClC,4CAA0B"}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../source/index.ts"],"names":[],"mappings":";;;;;;;;;;;;;;;;AAAA,6DAA2C;AAC3C,wDAAsC;AACtC,gEAA8C;AAC9C,0DAAwC;AACxC,2DAAyC;AACzC,4CAA0B;AAC1B,kDAAgC;AAChC,6CAA2B;AAC3B,+DAA6C;AAC7C,kEAAgD;AAChD,4CAA0B;AAC1B,6DAA2C;AAC3C,4CAA0B;AAC1B,qDAAmC;AACnC,4DAA0C;AAC1C,6CAA2B;AAC3B,uEAAqD;AACrD,+DAA6C;AAC7C,mDAAiC;AACjC,gEAA8C;AAC9C,8DAA4C;AAC5C,oDAAkC;AAClC,wDAAsC;AACtC,sEAAoD;AACpD,oDAAkC;AAClC,8DAA4C;AAC5C,kEAAgD;AAChD,mDAAiC;AACjC,4CAA0B"}

package/dist/ua_auxiliary_component.d.ts

@@ -1,7 +1,7 @@
 import { UAProperty } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
 import { UAString } from "node-opcua-basic-types";
-import { UADevice, UADevice_Base } from "node-opcua-nodeset-di/dist/ua_device";
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
 /**
  * Components mounted in a controller cabinet or a
  * motion device e.g. an IO-board or a power supply.
@@ -13,7 +13,8 @@ import { UADevice, UADevice_Base } from "node-opcua-nodeset-di/dist/ua_device";
  * |typedDefinition |AuxiliaryComponentType i=17725                              |
  * |isAbstract      |false                                                       |
  */
-export interface UAAuxiliaryComponent_Base extends UADevice_Base {
+export interface UAAuxiliaryComponent_Base extends UAComponent_Base {
+    assetId?: UAProperty<UAString, DataType.String>;
     /**
      * productCode
      * The ProductCode property provides a unique
@@ -24,5 +25,5 @@ export interface UAAuxiliaryComponent_Base extends UADevice_Base {
      */
     productCode: UAProperty<UAString, DataType.String>;
 }
-export interface UAAuxiliaryComponent extends Omit<UADevice, "productCode">, UAAuxiliaryComponent_Base {
+export interface UAAuxiliaryComponent extends Omit<UAComponent, "assetId" | "productCode">, UAAuxiliaryComponent_Base {
 }

package/dist/ua_axis.d.ts

@@ -1,10 +1,19 @@
 import { UAObject, UAProperty } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
+import { UAString } from "node-opcua-basic-types";
 import { UAAnalogUnit } from "node-opcua-nodeset-ua/dist/ua_analog_unit";
 import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
 import { EnumAxisMotionProfile } from "./enum_axis_motion_profile";
 import { UALoad } from "./ua_load";
 export interface UAAxis_parameterSet extends UAObject {
+    /**
+     * actualAcceleration
+     * : The ActualAcceleration variable provides the
+     * axis acceleration. Applicable acceleration limits
+     * of the axis shall be provided by the EURange
+     * property of the AnalogUnitType.
+     */
+    actualAcceleration?: UAAnalogUnit<number, DataType.Double>;
     /**
      * actualPosition
      * The axis position inclusive Unit and
@@ -17,14 +26,6 @@ export interface UAAxis_parameterSet extends UAObject {
      * inclusive Unit.
      */
     actualSpeed?: UAAnalogUnit<number, DataType.Double>;
-    /**
-     * actualAcceleration
-     * : The ActualAcceleration variable provides the
-     * axis acceleration. Applicable acceleration limits
-     * of the axis shall be provided by the EURange
-     * property of the AnalogUnitType.
-     */
-    actualAcceleration?: UAAnalogUnit<number, DataType.Double>;
 }
 /**
  * The AxisType describes an axis of a motion device.
@@ -38,10 +39,13 @@ export interface UAAxis_parameterSet extends UAObject {
  */
 export interface UAAxis_Base extends UAComponent_Base {
     /**
-     * parameterSet
-     * Flat list of Parameters
+     * additionalLoad
+     * The additional load which is mounted on this
+     * axis. E.g. for process-need a transformer for
+     * welding.
      */
-    parameterSet: UAAxis_parameterSet;
+    additionalLoad?: UALoad;
+    assetId?: UAProperty<UAString, DataType.String>;
     /**
      * motionProfile
      * The kind of axis motion as defined with the
@@ -49,12 +53,10 @@ export interface UAAxis_Base extends UAComponent_Base {
      */
     motionProfile: UAProperty<EnumAxisMotionProfile, DataType.Int32>;
     /**
-     * additionalLoad
-     * The additional load which is mounted on this
-     * axis. E.g. for process-need a transformer for
-     * welding.
+     * parameterSet
+     * Flat list of Parameters
      */
-    additionalLoad?: UALoad;
+    parameterSet: UAAxis_parameterSet;
 }
-export interface UAAxis extends Omit<UAComponent, "parameterSet">, UAAxis_Base {
+export interface UAAxis extends Omit<UAComponent, "assetId" | "parameterSet">, UAAxis_Base {
 }

package/dist/ua_controller.d.ts

@@ -2,37 +2,14 @@ import { UAObject, UAProperty } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
 import { LocalizedText } from "node-opcua-data-model";
 import { UAString } from "node-opcua-basic-types";
-import { UABaseDataVariable } from "node-opcua-nodeset-ua/dist/ua_base_data_variable";
 import { UAAnalogUnit } from "node-opcua-nodeset-ua/dist/ua_analog_unit";
+import { UABaseDataVariable } from "node-opcua-nodeset-ua/dist/ua_base_data_variable";
 import { UAFolder } from "node-opcua-nodeset-ua/dist/ua_folder";
+import { UAFileDirectory } from "node-opcua-nodeset-ua/dist/ua_file_directory";
 import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
 import { UAUser } from "./ua_user";
+import { UASystemOperation } from "./ua_system_operation";
 export interface UAController_parameterSet extends UAObject {
-    /**
-     * totalPowerOnTime
-     * The total accumulated time the controller was
-     * powered on.
-     */
-    totalPowerOnTime?: UABaseDataVariable<UAString, DataType.String>;
-    /**
-     * startUpTime
-     * The date and time of the last start-up of the
-     * controller.
-     */
-    startUpTime?: UABaseDataVariable<Date, DataType.DateTime>;
-    /**
-     * upsState
-     * The vendor specific status of an integrated UPS
-     * or accumulator system.
-     */
-    upsState?: UABaseDataVariable<UAString, DataType.String>;
-    /**
-     * totalEnergyConsumption
-     * The total accumulated energy consumed by the
-     * motion devices related with this controller
-     * instance.
-     */
-    totalEnergyConsumption?: UAAnalogUnit<number, DataType.Double>;
     /**
      * cabinetFanSpeed
      * The speed of the cabinet fan.
@@ -51,12 +28,37 @@ export interface UAController_parameterSet extends UAObject {
      * the base type DataItemType shall be used.
      */
     inputVoltage?: UAAnalogUnit<number, DataType.Double>;
+    /**
+     * startUpTime
+     * The date and time of the last start-up of the
+     * controller.
+     */
+    startUpTime?: UABaseDataVariable<Date, DataType.DateTime>;
     /**
      * temperature
      * The controller temperature given by a temperature
      * sensor inside of the controller.
      */
     temperature?: UAAnalogUnit<number, DataType.Double>;
+    /**
+     * totalEnergyConsumption
+     * The total accumulated energy consumed by the
+     * motion devices related with this controller
+     * instance.
+     */
+    totalEnergyConsumption?: UAAnalogUnit<number, DataType.Double>;
+    /**
+     * totalPowerOnTime
+     * The total accumulated time the controller was
+     * powered on.
+     */
+    totalPowerOnTime?: UABaseDataVariable<UAString, DataType.String>;
+    /**
+     * upsState
+     * The vendor specific status of an integrated UPS
+     * or accumulator system.
+     */
+    upsState?: UABaseDataVariable<UAString, DataType.String>;
 }
 /**
  * The ControllerType describes the control unit of
@@ -71,20 +73,8 @@ export interface UAController_parameterSet extends UAObject {
  * |isAbstract      |false                                                       |
  */
 export interface UAController_Base extends UAComponent_Base {
-    /**
-     * parameterSet
-     * Flat list of Parameters
-     */
-    parameterSet?: UAController_parameterSet;
-    manufacturer: UAProperty<LocalizedText, DataType.LocalizedText>;
-    model: UAProperty<LocalizedText, DataType.LocalizedText>;
-    productCode: UAProperty<UAString, DataType.String>;
-    serialNumber: UAProperty<UAString, DataType.String>;
-    /**
-     * currentUser
-     * The given name of the device.
-     */
-    currentUser: UAUser;
+    assetId?: UAProperty<UAString, DataType.String>;
+    componentName?: UAProperty<LocalizedText, DataType.LocalizedText>;
     /**
      * components
      * Components is a container for one or more
@@ -95,12 +85,29 @@ export interface UAController_Base extends UAComponent_Base {
      * an electrical interface to the controller.
      */
     components?: UAFolder;
+    /**
+     * currentUser
+     * The current user of the system.
+     */
+    currentUser: UAUser;
+    deviceManual?: UAProperty<UAString, DataType.String>;
+    manufacturer: UAProperty<LocalizedText, DataType.LocalizedText>;
+    model: UAProperty<LocalizedText, DataType.LocalizedText>;
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet?: UAController_parameterSet;
+    productCode: UAProperty<UAString, DataType.String>;
+    programs?: UAFileDirectory;
+    serialNumber: UAProperty<UAString, DataType.String>;
     /**
      * software
      * Software is a container for one or more instances
      * of SoftwareType defined in OPC UA DI.
      */
     software: UAFolder;
+    systemOperation?: UASystemOperation;
     /**
      * taskControls
      * TaskControls is a container for one or more
@@ -108,5 +115,5 @@ export interface UAController_Base extends UAComponent_Base {
      */
     taskControls: UAFolder;
 }
-export interface UAController extends Omit<UAComponent, "parameterSet" | "manufacturer" | "model" | "productCode" | "serialNumber">, UAController_Base {
+export interface UAController extends Omit<UAComponent, "assetId" | "componentName" | "deviceManual" | "manufacturer" | "model" | "parameterSet" | "productCode" | "serialNumber">, UAController_Base {
 }

package/dist/ua_drive.d.ts

@@ -1,7 +1,7 @@
 import { UAProperty } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
 import { UAString } from "node-opcua-basic-types";
-import { UADevice, UADevice_Base } from "node-opcua-nodeset-di/dist/ua_device";
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
 /**
  * Drives (multi-slot or single-slot axis amplifier)
  * mounted in a controller cabinet or a motion
@@ -14,7 +14,8 @@ import { UADevice, UADevice_Base } from "node-opcua-nodeset-di/dist/ua_device";
  * |typedDefinition |DriveType i=17793                                           |
  * |isAbstract      |false                                                       |
  */
-export interface UADrive_Base extends UADevice_Base {
+export interface UADrive_Base extends UAComponent_Base {
+    assetId?: UAProperty<UAString, DataType.String>;
     /**
      * productCode
      * The ProductCode property provides a unique
@@ -25,5 +26,5 @@ export interface UADrive_Base extends UADevice_Base {
      */
     productCode: UAProperty<UAString, DataType.String>;
 }
-export interface UADrive extends Omit<UADevice, "productCode">, UADrive_Base {
+export interface UADrive extends Omit<UAComponent, "assetId" | "productCode">, UADrive_Base {
 }

package/dist/ua_emergency_stop_function.d.ts

@@ -15,13 +15,6 @@ import { UABaseDataVariable } from "node-opcua-nodeset-ua/dist/ua_base_data_vari
  * |isAbstract      |false                                                       |
  */
 export interface UAEmergencyStopFunction_Base {
-    /**
-     * name
-     * The Name of the EmergencyStopFunctionType
-     * provides a manufacturer-specific emergency stop
-     * function identifier within the safety system.
-     */
-    name: UAProperty<UAString, DataType.String>;
     /**
      * active
      * The Active variable is TRUE if this particular
@@ -29,6 +22,13 @@ export interface UAEmergencyStopFunction_Base {
      * emergency stop button is pressed, FALSE otherwise.
      */
     active: UABaseDataVariable<boolean, DataType.Boolean>;
+    /**
+     * name
+     * The Name of the EmergencyStopFunctionType
+     * provides a manufacturer-specific emergency stop
+     * function identifier within the safety system.
+     */
+    name: UAProperty<UAString, DataType.String>;
 }
 export interface UAEmergencyStopFunction extends UAObject, UAEmergencyStopFunction_Base {
 }

package/dist/ua_executing_substate_machine.d.ts

@@ -0,0 +1,26 @@
+import { DataType } from "node-opcua-variant";
+import { LocalizedText } from "node-opcua-data-model";
+import { Int16 } from "node-opcua-basic-types";
+import { UAFiniteStateMachine, UAFiniteStateMachine_Base } from "node-opcua-nodeset-ua/dist/ua_finite_state_machine";
+import { UATransitionVariable } from "node-opcua-nodeset-ua/dist/ua_transition_variable";
+import { UAMultiStateValueDiscrete } from "node-opcua-nodeset-ua/dist/ua_multi_state_value_discrete";
+import { UAInitialState } from "node-opcua-nodeset-ua/dist/ua_initial_state";
+import { UATransition } from "node-opcua-nodeset-ua/dist/ua_transition";
+import { UAState } from "node-opcua-nodeset-ua/dist/ua_state";
+/**
+ * |                |                                                            |
+ * |----------------|------------------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/                       |
+ * |nodeClass       |ObjectType                                                  |
+ * |typedDefinition |ExecutingSubstateMachineType i=1007                         |
+ * |isAbstract      |false                                                       |
+ */
+export interface UAExecutingSubstateMachine_Base extends UAFiniteStateMachine_Base {
+    lastTransition: UATransitionVariable<LocalizedText>;
+    lastTransitionReason: UAMultiStateValueDiscrete<Int16, DataType.Int16>;
+    running: UAInitialState;
+    runningToStopping: UATransition;
+    stopping: UAState;
+}
+export interface UAExecutingSubstateMachine extends Omit<UAFiniteStateMachine, "lastTransition">, UAExecutingSubstateMachine_Base {
+}

package/dist/ua_executing_substate_machine.js

@@ -0,0 +1,3 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+//# sourceMappingURL=ua_executing_substate_machine.js.map

package/dist/ua_executing_substate_machine.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ua_executing_substate_machine.js","sourceRoot":"","sources":["../source/ua_executing_substate_machine.ts"],"names":[],"mappings":""}

package/dist/ua_gear.d.ts

@@ -18,10 +18,7 @@ import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_com
  * |isAbstract      |false                                                       |
  */
 export interface UAGear_Base extends UAComponent_Base {
-    manufacturer: UAProperty<LocalizedText, DataType.LocalizedText>;
-    model: UAProperty<LocalizedText, DataType.LocalizedText>;
-    productCode: UAProperty<UAString, DataType.String>;
-    serialNumber: UAProperty<UAString, DataType.String>;
+    assetId?: UAProperty<UAString, DataType.String>;
     /**
      * gearRatio
      * The transmission ratio of the gear expressed as a
@@ -29,6 +26,8 @@ export interface UAGear_Base extends UAComponent_Base {
      * velocity (load side).
      */
     gearRatio: UARationalNumber<DTRationalNumber>;
+    manufacturer: UAProperty<LocalizedText, DataType.LocalizedText>;
+    model: UAProperty<LocalizedText, DataType.LocalizedText>;
     /**
      * pitch
      * Pitch describes the distance covered in
@@ -39,6 +38,8 @@ export interface UAGear_Base extends UAComponent_Base {
      * to output of the gear.
      */
     pitch?: UABaseDataVariable<number, DataType.Double>;
+    productCode: UAProperty<UAString, DataType.String>;
+    serialNumber: UAProperty<UAString, DataType.String>;
 }
-export interface UAGear extends Omit<UAComponent, "manufacturer" | "model" | "productCode" | "serialNumber">, UAGear_Base {
+export interface UAGear extends Omit<UAComponent, "assetId" | "manufacturer" | "model" | "productCode" | "serialNumber">, UAGear_Base {
 }

package/dist/ua_idle_substate_machine.d.ts

@@ -0,0 +1,27 @@
+import { DataType } from "node-opcua-variant";
+import { LocalizedText } from "node-opcua-data-model";
+import { Int16 } from "node-opcua-basic-types";
+import { UAFiniteStateMachine, UAFiniteStateMachine_Base } from "node-opcua-nodeset-ua/dist/ua_finite_state_machine";
+import { UAState } from "node-opcua-nodeset-ua/dist/ua_state";
+import { UATransition } from "node-opcua-nodeset-ua/dist/ua_transition";
+import { UATransitionVariable } from "node-opcua-nodeset-ua/dist/ua_transition_variable";
+import { UAMultiStateValueDiscrete } from "node-opcua-nodeset-ua/dist/ua_multi_state_value_discrete";
+import { UAInitialState } from "node-opcua-nodeset-ua/dist/ua_initial_state";
+/**
+ * |                |                                                            |
+ * |----------------|------------------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/                       |
+ * |nodeClass       |ObjectType                                                  |
+ * |typedDefinition |IdleSubstateMachineType i=1009                              |
+ * |isAbstract      |false                                                       |
+ */
+export interface UAIdleSubstateMachine_Base extends UAFiniteStateMachine_Base {
+    gettingReady: UAState;
+    gettingReadyToStandBy: UATransition;
+    lastTransition: UATransitionVariable<LocalizedText>;
+    lastTransitionReason: UAMultiStateValueDiscrete<Int16, DataType.Int16>;
+    standBy: UAInitialState;
+    standByToGettingReady: UATransition;
+}
+export interface UAIdleSubstateMachine extends Omit<UAFiniteStateMachine, "lastTransition">, UAIdleSubstateMachine_Base {
+}

package/dist/ua_idle_substate_machine.js

@@ -0,0 +1,3 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+//# sourceMappingURL=ua_idle_substate_machine.js.map

package/dist/ua_idle_substate_machine.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ua_idle_substate_machine.js","sourceRoot":"","sources":["../source/ua_idle_substate_machine.ts"],"names":[],"mappings":""}

package/dist/ua_load.d.ts

@@ -1,10 +1,10 @@
 import { UAObject } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
-import { UAAnalogUnit } from "node-opcua-nodeset-ua/dist/ua_analog_unit";
 import { DT3DFrame } from "node-opcua-nodeset-ua/dist/dt_3_d_frame";
 import { UA3DFrame } from "node-opcua-nodeset-ua/dist/ua_3_d_frame";
 import { DT3DVector } from "node-opcua-nodeset-ua/dist/dt_3_d_vector";
 import { UA3DVector } from "node-opcua-nodeset-ua/dist/ua_3_d_vector";
+import { UAAnalogUnit } from "node-opcua-nodeset-ua/dist/ua_analog_unit";
 /**
  * The LoadType is for describing loads mounted on
  * the motion device typically by an integrator or a
@@ -18,12 +18,6 @@ import { UA3DVector } from "node-opcua-nodeset-ua/dist/ua_3_d_vector";
  * |isAbstract      |false                                                       |
  */
 export interface UALoad_Base {
-    /**
-     * mass
-     * The weight of the load mounted on one mounting
-     * point.
-     */
-    mass: UAAnalogUnit<number, DataType.Double>;
     /**
      * centerOfMass
      * The position and orientation of the center of the
@@ -47,6 +41,12 @@ export interface UALoad_Base {
      * as well.
      */
     inertia?: UA3DVector<DT3DVector>;
+    /**
+     * mass
+     * The weight of the load mounted on one mounting
+     * point.
+     */
+    mass: UAAnalogUnit<number, DataType.Double>;
 }
 export interface UALoad extends UAObject, UALoad_Base {
 }

package/dist/ua_motion_device.d.ts

@@ -1,13 +1,22 @@
 import { UAObject, UAProperty } from "node-opcua-address-space-base";
 import { DataType } from "node-opcua-variant";
 import { LocalizedText } from "node-opcua-data-model";
+import { NodeId } from "node-opcua-nodeid";
 import { UAString } from "node-opcua-basic-types";
 import { UABaseDataVariable } from "node-opcua-nodeset-ua/dist/ua_base_data_variable";
 import { UAFolder } from "node-opcua-nodeset-ua/dist/ua_folder";
 import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
-import { EnumMotionDeviceCategory } from "./enum_motion_device_category";
 import { UALoad } from "./ua_load";
+import { EnumMotionDeviceCategory } from "./enum_motion_device_category";
 export interface UAMotionDevice_parameterSet extends UAObject {
+    /**
+     * 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.
+     */
+    inControl?: UABaseDataVariable<boolean, DataType.Boolean>;
     /**
      * onPath
      * OnPath is true if the motion device is on or near
@@ -19,14 +28,6 @@ export interface UAMotionDevice_parameterSet extends UAObject {
      * needs repositioning to continue program execution.
      */
     onPath?: UABaseDataVariable<boolean, DataType.Boolean>;
-    /**
-     * 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.
-     */
-    inControl?: UABaseDataVariable<boolean, DataType.Boolean>;
     /**
      * speedOverride
      * SpeedOverride provides the current speed setting
@@ -49,14 +50,31 @@ export interface UAMotionDevice_parameterSet extends UAObject {
  */
 export interface UAMotionDevice_Base extends UAComponent_Base {
     /**
-     * parameterSet
-     * Flat list of Parameters
+     * 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.
      */
-    parameterSet: UAMotionDevice_parameterSet;
+    additionalComponents?: UAFolder;
+    assetId?: UAProperty<UAString, DataType.String>;
+    /**
+     * axes
+     * Axes is a container for one or more instances of
+     * the AxisType.
+     */
+    axes: UAFolder;
+    componentName?: UAProperty<LocalizedText, DataType.LocalizedText>;
+    deviceManual?: UAProperty<UAString, DataType.String>;
+    /**
+     * 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.
+     */
+    flangeLoad?: UALoad;
     manufacturer: UAProperty<LocalizedText, DataType.LocalizedText>;
     model: UAProperty<LocalizedText, DataType.LocalizedText>;
-    productCode: UAProperty<UAString, DataType.String>;
-    serialNumber: UAProperty<UAString, DataType.String>;
     /**
      * motionDeviceCategory
      * The variable MotionDeviceCategory provides the
@@ -65,32 +83,19 @@ export interface UAMotionDevice_Base extends UAComponent_Base {
      */
     motionDeviceCategory: UAProperty<EnumMotionDeviceCategory, DataType.Int32>;
     /**
-     * axes
-     * Axes is a container for one or more instances of
-     * the AxisType.
+     * parameterSet
+     * Flat list of Parameters
      */
-    axes: UAFolder;
+    parameterSet: UAMotionDevice_parameterSet;
     /**
      * powerTrains
      * PowerTrains is a container for one or more
      * instances of the PowerTrainType.
      */
     powerTrains: UAFolder;
-    /**
-     * 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.
-     */
-    flangeLoad?: UALoad;
-    /**
-     * 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.
-     */
-    additionalComponents?: UAFolder;
+    productCode: UAProperty<UAString, DataType.String>;
+    serialNumber: UAProperty<UAString, DataType.String>;
+    taskControlReference?: UABaseDataVariable<NodeId, DataType.NodeId>;
 }
-export interface UAMotionDevice extends Omit<UAComponent, "parameterSet" | "manufacturer" | "model" | "productCode" | "serialNumber">, UAMotionDevice_Base {
+export interface UAMotionDevice extends Omit<UAComponent, "assetId" | "componentName" | "deviceManual" | "manufacturer" | "model" | "parameterSet" | "productCode" | "serialNumber">, UAMotionDevice_Base {
 }

package/dist/ua_motion_device_system.d.ts

@@ -1,3 +1,6 @@
+import { UAProperty } from "node-opcua-address-space-base";
+import { DataType } from "node-opcua-variant";
+import { LocalizedText } from "node-opcua-data-model";
 import { UAFolder } from "node-opcua-nodeset-ua/dist/ua_folder";
 import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_component";
 /**
@@ -12,18 +15,19 @@ import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/dist/ua_com
  * |isAbstract      |false                                                       |
  */
 export interface UAMotionDeviceSystem_Base extends UAComponent_Base {
-    /**
-     * motionDevices
-     * Contains any kinematic or motion device which is
-     * part of the motion device system.
-     */
-    motionDevices: UAFolder;
+    componentName?: UAProperty<LocalizedText, DataType.LocalizedText>;
     /**
      * controllers
      * Contains the set of controllers in the motion
      * device system.
      */
     controllers: UAFolder;
+    /**
+     * motionDevices
+     * Contains any kinematic or motion device which is
+     * part of the motion device system.
+     */
+    motionDevices: UAFolder;
     /**
      * safetyStates
      * Contains safety-related data from motion device
@@ -31,5 +35,5 @@ export interface UAMotionDeviceSystem_Base extends UAComponent_Base {
      */
     safetyStates: UAFolder;
 }
-export interface UAMotionDeviceSystem extends UAComponent, UAMotionDeviceSystem_Base {
+export interface UAMotionDeviceSystem extends Omit<UAComponent, "componentName">, UAMotionDeviceSystem_Base {
 }