robotics.cpp File Reference

OPC UA for Robotics (OPC 40010-1) MotionDeviceSystem model - resolver implementation. More...

#include "services/machine_tool/robotics/robotics.h"

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Detailed Description

OPC UA for Robotics (OPC 40010-1) MotionDeviceSystem model - resolver implementation.

A fixed node table (no heap): each container node (MotionDeviceSystem, the MotionDevices / Controllers / SafetyStates folders, MotionDevice, ParameterSet, Axes, each Axis_k, Controller, Software, SafetyState) answers a Browse with its child ReferenceDescriptions, and each leaf Variable answers a Read out of the bound RoboticsMotionDeviceSystem struct. The Objects folder (ns0 i=85) organizes the MotionDeviceSystem so a client discovers it from the root. Axes are parametric: Axis_k lives at AXIS_BASE + k*10 (k = 1..axis_count) and its four variables at +1..+4.

Definition in file robotics.cpp.