node-opcua-nodeset-robotics 2.51.0

package/source/ua_load.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject } from "node-opcua-address-space-base"
+import { DataType } from "node-opcua-variant"
+import { UAAnalogUnit } from "node-opcua-nodeset-ua/source/ua_analog_unit"
+import { DT3DFrame } from "node-opcua-nodeset-ua/source/dt_3_d_frame"
+import { UA3DFrame } from "node-opcua-nodeset-ua/source/ua_3_d_frame"
+import { DT3DVector } from "node-opcua-nodeset-ua/source/dt_3_d_vector"
+import { UA3DVector } from "node-opcua-nodeset-ua/source/ua_3_d_vector"
+/**
+ * The LoadType is for describing loads mounted on
+ * the motion device typically by an integrator or a
+ * customer.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:LoadType ns=7;i=1018                            |
+ * |isAbstract      |false                                             |
+ */
+export interface UALoad_Base {
+    /**
+     * mass
+     * The weight of the load mounted on one mounting
+     * point.
+     */
+    mass: UAAnalogUnit<number, /*z*/DataType.Double>;
+    /**
+     * centerOfMass
+     * The position and orientation of the center of the
+     * mass related to the mounting point using a
+     * FrameType. X, Y, Z define the position of the
+     * center of gravity relative to the mounting point
+     * coordinate system. A, B, C define the orientation
+     * of the principal axes of inertia relative to the
+     * mounting point coordinate system. Orientation A,
+     * B, C can be "0" for systems which do not need
+     * these  values.
+     */
+    centerOfMass?: UA3DFrame<DT3DFrame>;
+    /**
+     * inertia
+     * The Inertia uses the VectorType to describe the
+     * three values of the principal moments of inertia
+     * with respect to the mounting point coordinate
+     * system. If inertia values are provided for rotary
+     * axis the CenterOfMass shall be completely filled
+     * as well.
+     */
+    inertia?: UA3DVector<DT3DVector>;
+}
+export interface UALoad extends UAObject, UALoad_Base {
+}

package/source/ua_motion_device.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject, UAProperty } from "node-opcua-address-space-base"
+import { DataType, Variant } 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/source/ua_base_data_variable"
+import { UAFolder } from "node-opcua-nodeset-ua/source/ua_folder"
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+import { UALoad } from "./ua_load"
+export interface UAMotionDevice_parameterSet extends UAObject { // Object
+      /**
+       * onPath
+       * OnPath is true if the motion device is on or near
+       * enough the planned program path such that program
+       * execution can continue. If the MotionDevice
+       * deviates too much from this path in case of
+       * errors or an emergency stop, this value becomes
+       * false. If OnPath is false, the motion device
+       * needs repositioning to continue program execution.
+       */
+      onPath?: UABaseDataVariable<boolean, /*z*/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, /*z*/DataType.Boolean>;
+      /**
+       * speedOverride
+       * SpeedOverride provides the current speed setting
+       * in percent of programmed speed (0 - 100%).
+       */
+      speedOverride: UABaseDataVariable<number, /*z*/DataType.Double>;
+}
+/**
+ * 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.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:MotionDeviceType ns=7;i=1004                    |
+ * |isAbstract      |false                                             |
+ */
+export interface UAMotionDevice_Base extends UAComponent_Base {
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet: UAMotionDevice_parameterSet;
+    manufacturer: UAProperty<LocalizedText, /*z*/DataType.LocalizedText>;
+    model: UAProperty<LocalizedText, /*z*/DataType.LocalizedText>;
+    productCode: UAProperty<UAString, /*z*/DataType.String>;
+    serialNumber: UAProperty<UAString, /*z*/DataType.String>;
+    /**
+     * motionDeviceCategory
+     * The variable MotionDeviceCategory provides the
+     * kind of motion device defined by
+     * MotionDeviceCategoryEnumeration based on ISO 8373.
+     */
+    motionDeviceCategory: UAProperty<any, any>;
+    /**
+     * axes
+     * Axes is a container for one or more instances of
+     * the AxisType.
+     */
+    axes: UAFolder;
+    /**
+     * 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;
+}
+export interface UAMotionDevice extends Omit<UAComponent, "parameterSet"|"manufacturer"|"model"|"productCode"|"serialNumber">, UAMotionDevice_Base {
+}

package/source/ua_motion_device_system.ts

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+// ----- this file has been automatically generated - do not edit
+import { DataType, Variant } from "node-opcua-variant"
+import { LocalizedText } from "node-opcua-data-model"
+import { EUInformation } from "node-opcua-data-access"
+import { NodeId } from "node-opcua-nodeid"
+import { UInt32, Int32, UInt16, UAString } from "node-opcua-basic-types"
+import { DTRange } from "node-opcua-nodeset-ua/source/dt_range"
+import { DT3DFrame } from "node-opcua-nodeset-ua/source/dt_3_d_frame"
+import { DTFrame } from "node-opcua-nodeset-ua/source/dt_frame"
+import { DTCartesianCoordinates } from "node-opcua-nodeset-ua/source/dt_cartesian_coordinates"
+import { DTOrientation } from "node-opcua-nodeset-ua/source/dt_orientation"
+import { DT3DCartesianCoordinates } from "node-opcua-nodeset-ua/source/dt_3_d_cartesian_coordinates"
+import { DT3DOrientation } from "node-opcua-nodeset-ua/source/dt_3_d_orientation"
+import { DT3DVector } from "node-opcua-nodeset-ua/source/dt_3_d_vector"
+import { DTVector } from "node-opcua-nodeset-ua/source/dt_vector"
+import { DTRationalNumber } from "node-opcua-nodeset-ua/source/dt_rational_number"
+import { UAFolder } from "node-opcua-nodeset-ua/source/ua_folder"
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+/**
+ * Contains the set of controllers and motion
+ * devices in a closely-coupled motion device system.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:MotionDeviceSystemType ns=7;i=1002              |
+ * |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;
+    /**
+     * controllers
+     * Contains the set of controllers in the motion
+     * device system.
+     */
+    controllers: UAFolder;
+    /**
+     * safetyStates
+     * Contains safety-related data from motion device
+     * system.
+     */
+    safetyStates: UAFolder;
+}
+export interface UAMotionDeviceSystem extends UAComponent, UAMotionDeviceSystem_Base {
+}

package/source/ua_motor.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject, UAProperty } from "node-opcua-address-space-base"
+import { DataType } from "node-opcua-variant"
+import { LocalizedText } from "node-opcua-data-model"
+import { UInt16, UAString } from "node-opcua-basic-types"
+import { UABaseDataVariable } from "node-opcua-nodeset-ua/source/ua_base_data_variable"
+import { UAAnalogUnit } from "node-opcua-nodeset-ua/source/ua_analog_unit"
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+export interface UAMotor_parameterSet extends UAObject { // Object
+      /**
+       * brakeReleased
+       * Indicates an optional variable used only for
+       * motors with brakes. If BrakeReleased is TRUE the
+       * motor is free to run. FALSE means that the motor
+       * shaft is locked by the brake.
+       */
+      brakeReleased?: UABaseDataVariable<boolean, /*z*/DataType.Boolean>;
+      /**
+       * motorTemperature
+       * The motor temperature provides the temperature of
+       * the motor. If there is no temperature sensor the
+       * value is set to \"null\".
+       */
+      motorTemperature: UAAnalogUnit<number, /*z*/DataType.Double>;
+      /**
+       * effectiveLoadRate
+       * EffectiveLoadRate is expressed as a percentage of
+       * maximum continuous load. The Joule integral is
+       * typically used to calculate the current load.
+       * Duration should be defined and documented by the
+       * vendor.
+       */
+      effectiveLoadRate?: UABaseDataVariable<UInt16, /*z*/DataType.UInt16>;
+}
+/**
+ * The MotorType is for representing instances of
+ * electric motors.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:MotorType ns=7;i=1019                           |
+ * |isAbstract      |false                                             |
+ */
+export interface UAMotor_Base extends UAComponent_Base {
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet: UAMotor_parameterSet;
+    manufacturer: UAProperty<LocalizedText, /*z*/DataType.LocalizedText>;
+    model: UAProperty<LocalizedText, /*z*/DataType.LocalizedText>;
+    productCode: UAProperty<UAString, /*z*/DataType.String>;
+    serialNumber: UAProperty<UAString, /*z*/DataType.String>;
+}
+export interface UAMotor extends Omit<UAComponent, "parameterSet"|"manufacturer"|"model"|"productCode"|"serialNumber">, UAMotor_Base {
+}

package/source/ua_power_train.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+/**
+ * The PowerTrainType represents instances of
+ * powertrains of a motion device.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:PowerTrainType ns=7;i=16794                     |
+ * |isAbstract      |false                                             |
+ */
+export interface UAPowerTrain_Base extends UAComponent_Base {
+}
+export interface UAPowerTrain extends UAComponent, UAPowerTrain_Base {
+}

package/source/ua_safety_state.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject } from "node-opcua-address-space-base"
+import { DataType, Variant } from "node-opcua-variant"
+import { UABaseDataVariable } from "node-opcua-nodeset-ua/source/ua_base_data_variable"
+import { UAFolder } from "node-opcua-nodeset-ua/source/ua_folder"
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+export interface UASafetyState_parameterSet extends UAObject { // Object
+      /**
+       * operationalMode
+       * The OperationalMode variable provides information
+       * about the current operational mode. Allowed
+       * values are described in
+       * OperationalModeEnumeration, see ISO 10218-1:2011
+       * Ch.5.7 Operational Modes.
+       */
+      operationalMode: UABaseDataVariable<any, any>;
+      /**
+       * emergencyStop
+       * The EmergencyStop variable is TRUE if one or more
+       * of the emergency stop functions in the robot
+       * system are active, FALSE otherwise. If the
+       * EmergencyStopFunctions object is provided, then
+       * the value of this variable is TRUE if one or more
+       * of the listed emergency stop functions are active.
+       */
+      emergencyStop: UABaseDataVariable<boolean, /*z*/DataType.Boolean>;
+      /**
+       * protectiveStop
+       * The ProtectiveStop variable is TRUE if one or
+       * more of the enabled protective stop functions in
+       * the system are active, FALSE otherwise. If the
+       * ProtectiveStopFunctions object is provided, then
+       * the value of this variable is TRUE if one or more
+       * of the listed protective stop functions are
+       * enabled and active.
+       */
+      protectiveStop: UABaseDataVariable<boolean, /*z*/DataType.Boolean>;
+}
+/**
+ * SafetyStateType describes the safety states of
+ * the motion devices and controllers. One motion
+ * device system is associated with one or more
+ * instances of the SafetyStateType.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:SafetyStateType ns=7;i=1013                     |
+ * |isAbstract      |false                                             |
+ */
+export interface UASafetyState_Base extends UAComponent_Base {
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet: UASafetyState_parameterSet;
+    /**
+     * emergencyStopFunctions
+     * EmergencyStopFunctions is a container for one or
+     * more instances of the EmergencyStopFunctionType.
+     */
+    emergencyStopFunctions?: UAFolder;
+    /**
+     * protectiveStopFunctions
+     * ProtectiveStopFunctions is a container for one or
+     * more instances of the ProtectiveStopFunctionType.
+     */
+    protectiveStopFunctions?: UAFolder;
+}
+export interface UASafetyState extends Omit<UAComponent, "parameterSet">, UASafetyState_Base {
+}

package/source/ua_task_control.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject, UAProperty } from "node-opcua-address-space-base"
+import { DataType, Variant } 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/source/ua_base_data_variable"
+import { UAComponent, UAComponent_Base } from "node-opcua-nodeset-di/source/ua_component"
+export interface UATaskControl_parameterSet extends UAObject { // Object
+      /**
+       * taskProgramName
+       * A customer given identifier for the task program.
+       */
+      taskProgramName: UABaseDataVariable<UAString, /*z*/DataType.String>;
+      /**
+       * taskProgramLoaded
+       * The TaskProgramLoaded variable is TRUE if a task
+       * program is loaded in the task control, FALSE
+       * otherwise.
+       */
+      taskProgramLoaded: UABaseDataVariable<boolean, /*z*/DataType.Boolean>;
+      /**
+       * executionMode
+       * Execution mode of the task control (continuous or
+       * step-wise).
+       */
+      executionMode?: UABaseDataVariable<any, any>;
+}
+/**
+ * Represents a specific task control active on the
+ * controller.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:TaskControlType ns=7;i=1011                     |
+ * |isAbstract      |false                                             |
+ */
+export interface UATaskControl_Base extends UAComponent_Base {
+    /**
+     * parameterSet
+     * Flat list of Parameters
+     */
+    parameterSet: UATaskControl_parameterSet;
+    /**
+     * componentName
+     * A user writable name provided by the vendor,
+     * integrator or user of the device.
+     */
+    componentName: UAProperty<LocalizedText, /*z*/DataType.LocalizedText>;
+}
+export interface UATaskControl extends Omit<UAComponent, "parameterSet"|"componentName">, UATaskControl_Base {
+}

package/source/ua_user.ts

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+// ----- this file has been automatically generated - do not edit
+import { UAObject, UAProperty } from "node-opcua-address-space-base"
+import { DataType } from "node-opcua-variant"
+import { UAString } from "node-opcua-basic-types"
+/**
+ * The UserType ObjectType describes information of
+ * the registered user groups within the control
+ * system.
+ *
+ * |                |                                                  |
+ * |----------------|--------------------------------------------------|
+ * |namespace       |http://opcfoundation.org/UA/Robotics/             |
+ * |nodeClass       |ObjectType                                        |
+ * |typedDefinition |7:UserType ns=7;i=18175                           |
+ * |isAbstract      |false                                             |
+ */
+export interface UAUser_Base {
+    /**
+     * level
+     * The weight of the load mounted on one mounting
+     * point.
+     */
+    level: UAProperty<UAString, /*z*/DataType.String>;
+    /**
+     * name
+     * The name for the current user within the control
+     * system.
+     */
+    name?: UAProperty<UAString, /*z*/DataType.String>;
+}
+export interface UAUser extends UAObject, UAUser_Base {
+}

package/tsconfig.json

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+{
+  "extends": "../tsconfig.json",
+  "compilerOptions": {
+        "rootDir": "source",
+        "outDir": "dist",
+        "composite": true
+   },
+   "include": [
+        "source/*.ts",
+   ],
+   "references": [
+     { "path": "../node-opcua-address-space-base" },
+     { "path": "../node-opcua-basic-types" },
+     { "path": "../node-opcua-data-access" },
+     { "path": "../node-opcua-data-model" },
+     { "path": "../node-opcua-nodeid" },
+     { "path": "../node-opcua-nodeset-di" },
+     { "path": "../node-opcua-nodeset-ua" },
+     { "path": "../node-opcua-variant" }
+   ],
+   "exclude": [
+     "node_modules",
+     "dist"
+   ]
+}

package/tsconfig.tsbuildinfo

@@ -0,0 +1 @@
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