node-opcua-nodeset-robotics 2.51.0

package/LICENSE

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+The MIT License (MIT)
+
+Copyright (c) 2014-2021 Etienne Rossignon
+
+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.

package/dist/enum_axis_motion_profile.d.ts

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+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:AxisMotionProfileEnumeration                    |
+ * | isAbstract|false                                             |
+ */
+export declare enum EnumAxisMotionProfile {
+    /**
+     * Any motion-profile which is not defined by the
+     * AxisMotionProfileEnumeration.
+     */
+    OTHER = 0,
+    /**
+     * 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 = 1,
+    /**
+     * 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.
+     */
+    ROTARY_ENDLESS = 2,
+    /**
+     * 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 = 3,
+    /**
+     * 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.
+     */
+    LINEAR_ENDLESS = 4
+}

package/dist/enum_axis_motion_profile.js

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+"use strict";
+// ----- this file has been automatically generated - do not edit
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.EnumAxisMotionProfile = void 0;
+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:AxisMotionProfileEnumeration                    |
+ * | isAbstract|false                                             |
+ */
+var EnumAxisMotionProfile;
+(function (EnumAxisMotionProfile) {
+    /**
+     * Any motion-profile which is not defined by the
+     * AxisMotionProfileEnumeration.
+     */
+    EnumAxisMotionProfile[EnumAxisMotionProfile["OTHER"] = 0] = "OTHER";
+    /**
+     * 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.
+     */
+    EnumAxisMotionProfile[EnumAxisMotionProfile["ROTARY"] = 1] = "ROTARY";
+    /**
+     * 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.
+     */
+    EnumAxisMotionProfile[EnumAxisMotionProfile["ROTARY_ENDLESS"] = 2] = "ROTARY_ENDLESS";
+    /**
+     * 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.
+     */
+    EnumAxisMotionProfile[EnumAxisMotionProfile["LINEAR"] = 3] = "LINEAR";
+    /**
+     * 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.
+     */
+    EnumAxisMotionProfile[EnumAxisMotionProfile["LINEAR_ENDLESS"] = 4] = "LINEAR_ENDLESS";
+})(EnumAxisMotionProfile = exports.EnumAxisMotionProfile || (exports.EnumAxisMotionProfile = {}));
+//# sourceMappingURL=enum_axis_motion_profile.js.map

package/dist/enum_axis_motion_profile.js.map

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package/dist/enum_execution_mode.d.ts

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+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:ExecutionModeEnumeration                        |
+ * | isAbstract|false                                             |
+ */
+export declare enum EnumExecutionMode {
+    /**
+     * Single execution of a task program according to
+     * ISO 8373.
+     */
+    CYCLE = 0,
+    /**
+     * Task program is executed continuously and starts
+     * again automatically.
+     */
+    CONTINUOUS = 1,
+    /**
+     * Task program is executed in steps.
+     */
+    STEP = 2
+}

package/dist/enum_execution_mode.js

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+"use strict";
+// ----- this file has been automatically generated - do not edit
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.EnumExecutionMode = void 0;
+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:ExecutionModeEnumeration                        |
+ * | isAbstract|false                                             |
+ */
+var EnumExecutionMode;
+(function (EnumExecutionMode) {
+    /**
+     * Single execution of a task program according to
+     * ISO 8373.
+     */
+    EnumExecutionMode[EnumExecutionMode["CYCLE"] = 0] = "CYCLE";
+    /**
+     * Task program is executed continuously and starts
+     * again automatically.
+     */
+    EnumExecutionMode[EnumExecutionMode["CONTINUOUS"] = 1] = "CONTINUOUS";
+    /**
+     * Task program is executed in steps.
+     */
+    EnumExecutionMode[EnumExecutionMode["STEP"] = 2] = "STEP";
+})(EnumExecutionMode = exports.EnumExecutionMode || (exports.EnumExecutionMode = {}));
+//# sourceMappingURL=enum_execution_mode.js.map

package/dist/enum_execution_mode.js.map

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package/dist/enum_motion_device_category.d.ts

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+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:MotionDeviceCategoryEnumeration                 |
+ * | isAbstract|false                                             |
+ */
+export declare enum EnumMotionDeviceCategory {
+    /**
+     * Any MotionDevice which is not defined by the
+     * MotionDeviceCategoryEnumeration.
+     */
+    OTHER = 0,
+    /**
+     * 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.
+     */
+    ARTICULATED_ROBOT = 1,
+    /**
+     * The robot has two parallel rotary joints that
+     * ensure compliance in a specified plane.
+     */
+    SCARA_ROBOT = 2,
+    /**
+     * 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.
+     */
+    CARTESIAN_ROBOT = 3,
+    /**
+     * 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.
+     */
+    SPHERICAL_ROBOT = 4,
+    /**
+     * 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.
+     */
+    PARALLEL_ROBOT = 5,
+    /**
+     * 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.
+     */
+    CYLINDRICAL_ROBOT = 6
+}

package/dist/enum_motion_device_category.js

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+"use strict";
+// ----- this file has been automatically generated - do not edit
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.EnumMotionDeviceCategory = void 0;
+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:MotionDeviceCategoryEnumeration                 |
+ * | isAbstract|false                                             |
+ */
+var EnumMotionDeviceCategory;
+(function (EnumMotionDeviceCategory) {
+    /**
+     * Any MotionDevice which is not defined by the
+     * MotionDeviceCategoryEnumeration.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["OTHER"] = 0] = "OTHER";
+    /**
+     * 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.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["ARTICULATED_ROBOT"] = 1] = "ARTICULATED_ROBOT";
+    /**
+     * The robot has two parallel rotary joints that
+     * ensure compliance in a specified plane.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["SCARA_ROBOT"] = 2] = "SCARA_ROBOT";
+    /**
+     * 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.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["CARTESIAN_ROBOT"] = 3] = "CARTESIAN_ROBOT";
+    /**
+     * 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.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["SPHERICAL_ROBOT"] = 4] = "SPHERICAL_ROBOT";
+    /**
+     * 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.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["PARALLEL_ROBOT"] = 5] = "PARALLEL_ROBOT";
+    /**
+     * 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.
+     */
+    EnumMotionDeviceCategory[EnumMotionDeviceCategory["CYLINDRICAL_ROBOT"] = 6] = "CYLINDRICAL_ROBOT";
+})(EnumMotionDeviceCategory = exports.EnumMotionDeviceCategory || (exports.EnumMotionDeviceCategory = {}));
+//# sourceMappingURL=enum_motion_device_category.js.map

package/dist/enum_motion_device_category.js.map

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package/dist/enum_operational_mode.d.ts

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+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:OperationalModeEnumeration                      |
+ * | isAbstract|false                                             |
+ */
+export declare enum EnumOperationalMode {
+    /**
+     * Other for when there is a system-boot (unknown)
+     * or a failure of the safety, there is no valid
+     * operational mode.
+     */
+    OTHER = 0,
+    /**
+     * "Manual reduced speed" - name according to ISO
+     * 10218-1:2011.
+     */
+    MANUAL_REDUCED_SPEED = 1,
+    /**
+     * "Manual high speed" - name according to ISO
+     * 10218-1:2011.
+     */
+    MANUAL_HIGH_SPEED = 2,
+    /**
+     * "Automatic" - name according to ISO 10218-1:2011.
+     */
+    AUTOMATIC = 3,
+    /**
+     * "Automatic external" - Same as "Automatic" but
+     * with external control, e.g. by a PLC.
+     */
+    AUTOMATIC_EXTERNAL = 4
+}

package/dist/enum_operational_mode.js

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+"use strict";
+// ----- this file has been automatically generated - do not edit
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.EnumOperationalMode = void 0;
+/**
+ * |           |                                                  |
+ * |-----------|--------------------------------------------------|
+ * | namespace |http://opcfoundation.org/UA/Robotics/             |
+ * | nodeClass |DataType                                          |
+ * | name      |7:OperationalModeEnumeration                      |
+ * | isAbstract|false                                             |
+ */
+var EnumOperationalMode;
+(function (EnumOperationalMode) {
+    /**
+     * Other for when there is a system-boot (unknown)
+     * or a failure of the safety, there is no valid
+     * operational mode.
+     */
+    EnumOperationalMode[EnumOperationalMode["OTHER"] = 0] = "OTHER";
+    /**
+     * "Manual reduced speed" - name according to ISO
+     * 10218-1:2011.
+     */
+    EnumOperationalMode[EnumOperationalMode["MANUAL_REDUCED_SPEED"] = 1] = "MANUAL_REDUCED_SPEED";
+    /**
+     * "Manual high speed" - name according to ISO
+     * 10218-1:2011.
+     */
+    EnumOperationalMode[EnumOperationalMode["MANUAL_HIGH_SPEED"] = 2] = "MANUAL_HIGH_SPEED";
+    /**
+     * "Automatic" - name according to ISO 10218-1:2011.
+     */
+    EnumOperationalMode[EnumOperationalMode["AUTOMATIC"] = 3] = "AUTOMATIC";
+    /**
+     * "Automatic external" - Same as "Automatic" but
+     * with external control, e.g. by a PLC.
+     */
+    EnumOperationalMode[EnumOperationalMode["AUTOMATIC_EXTERNAL"] = 4] = "AUTOMATIC_EXTERNAL";
+})(EnumOperationalMode = exports.EnumOperationalMode || (exports.EnumOperationalMode = {}));
+//# sourceMappingURL=enum_operational_mode.js.map

package/dist/enum_operational_mode.js.map

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package/dist/index.d.ts

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+export * from "./enum_axis_motion_profile";
+export * from "./enum_execution_mode";
+export * from "./enum_motion_device_category";
+export * from "./enum_operational_mode";
+export * from "./ua_auxiliary_component";
+export * from "./ua_axis";
+export * from "./ua_controller";
+export * from "./ua_drive";
+export * from "./ua_emergency_stop_function";
+export * from "./ua_gear";
+export * from "./ua_load";
+export * from "./ua_motion_device";
+export * from "./ua_motion_device_system";
+export * from "./ua_motor";
+export * from "./ua_power_train";
+export * from "./ua_protective_stop_function";
+export * from "./ua_safety_state";
+export * from "./ua_task_control";
+export * from "./ua_user";

package/dist/index.js

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+"use strict";
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    Object.defineProperty(o, k2, { enumerable: true, get: function() { return m[k]; } });
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __exportStar = (this && this.__exportStar) || function(m, exports) {
+    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+__exportStar(require("./enum_axis_motion_profile"), exports);
+__exportStar(require("./enum_execution_mode"), exports);
+__exportStar(require("./enum_motion_device_category"), exports);
+__exportStar(require("./enum_operational_mode"), exports);
+__exportStar(require("./ua_auxiliary_component"), exports);
+__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_gear"), 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_power_train"), exports);
+__exportStar(require("./ua_protective_stop_function"), exports);
+__exportStar(require("./ua_safety_state"), exports);
+__exportStar(require("./ua_task_control"), exports);
+__exportStar(require("./ua_user"), exports);
+//# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -0,0 +1 @@
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package/dist/ua_auxiliary_component.d.ts

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+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/source/ua_device";
+/**
+ * Components mounted in a controller cabinet or a
+ * motion device e.g. an IO-board or a power supply.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:AuxiliaryComponentType ns=7;i=17725             |
+ * |isAbstract      |false                                             |
+ */
+export interface UAAuxiliaryComponent_Base extends UADevice_Base {
+    /**
+     * 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.
+     */
+    productCode: UAProperty<UAString, /*z*/ DataType.String>;
+}
+export interface UAAuxiliaryComponent extends Omit<UADevice, "productCode">, UAAuxiliaryComponent_Base {
+}

package/dist/ua_auxiliary_component.js

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

package/dist/ua_auxiliary_component.js.map

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

package/dist/ua_axis.d.ts

@@ -0,0 +1,59 @@
+import { UAObject, UAProperty } from "node-opcua-address-space-base";
+import { DataType } from "node-opcua-variant";
+import { UAAnalogUnit } from "node-opcua-nodeset-ua/source/ua_analog_unit";
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component";
+import { UALoad } from "./ua_load";
+export interface UAAxis_parameterSet extends UAObject {
+    /**
+     * actualPosition
+     * The axis position inclusive Unit and
+     * RangeOfMotion.
+     */
+    actualPosition: UAAnalogUnit<number, /*z*/ DataType.Double>;
+    /**
+     * actualSpeed
+     * The axis speed on load side (after gear/spindle)
+     * inclusive Unit.
+     */
+    actualSpeed?: UAAnalogUnit<number, /*z*/ 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, /*z*/ DataType.Double>;
+}
+/**
+ * The AxisType describes an axis of a motion device.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:AxisType ns=7;i=16601                           |
+ * |isAbstract      |false                                             |
+ */
+export interface UAAxis_Base extends UAComponent_Base {
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet: UAAxis_parameterSet;
+    /**
+     * motionProfile
+     * The kind of axis motion as defined with the
+     * AxisMotionProfileEnumeration.
+     */
+    motionProfile: UAProperty<any, any>;
+    /**
+     * additionalLoad
+     * The additional load which is mounted on this
+     * axis. E.g. for process-need a transformer for
+     * welding.
+     */
+    additionalLoad?: UALoad;
+}
+export interface UAAxis extends Omit<UAComponent, "parameterSet">, UAAxis_Base {
+}

package/dist/ua_axis.js

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

package/dist/ua_axis.js.map

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