OPC UA API documentation¶
Custom Data Types¶
The OPC UA server defines a few custom data types like ExecutionStatus, KeyIntPair and KeyPosePair. You can find the respective BSD-file here.
OPC UA Server Address Space¶
You can download the OPC UA nodeset definition XML file here. The NodeID definition CSV file can be downloaded here.
Execution Control¶
OpenBrakes¶
Opens the brakes.
Parameter:
No parameters needed.
Status Codes:
| Name | Description |
|---|---|
| Good | The operation succeeded. |
| InvalidState | The control token is invalid. |
| UserAccessDenied | Insufficient authorization. |
| RequestNotAllowed | The operation is currently not allowed, possible reason: safety error or violation present. |
| InternalError | An internal error occurred. |
Reboot¶
Reboots the master controller.
Parameter:
No parameters needed.
Status Codes:
| Name | Description |
|---|---|
| Good | The operation succeeded. |
| UserAccessDenied | Insufficient authorization. |
| RequestNotAllowed | The operation is currently not allowed, possible reason: task is currently being executed. |
| InternalError | An internal error occurred. |
Shutdown¶
Shuts the master controller down.
Parameter:
No parameters needed.
Status Codes:
| Name | Description |
|---|---|
| Good | The operation succeeded. |
| UserAccessDenied | Insufficient authorization. |
| RequestNotAllowed | The operation is currently not allowed, possible reason: task is currently being executed. |
| InternalError | An internal error occurred. |
StartTask¶
Starts a task, identified by its ID. All available task IDs can be listed via the Tasks variable. When the task is started successfully the IsRunning flag of the ExecutionStatus will be true, ActiveTaskId will be the ID of the started task and ActiveTaskName its name.
Parameter:
| Name | Type | Description |
|---|---|---|
| key | String | The task ID. |
Status Codes:
| Name | Description |
|---|---|
| Good | The operation succeeded. |
| InvalidState | The control token is invalid, or the task ID parameter is missing. |
| NotFound | The given task ID does not exist. |
| UserAccessDenied | Insufficient authorization. |
| RequestNotAllowed | The operation is currently not allowed, possible reason: robot arm lifetime exceeded or operating mode is not Execution. |
| InternalError | An internal error occurred. |
SwitchToExecution¶
Switches operating mode to Execution. If the mode already is Execution, then the operation succeeds and nothing happens. This operation will fail if a task is currently running.
Parameter:
No parameters needed.
Status Codes:
| Name | Description |
|---|---|
| Good | The operation succeeded. |
| InvalidState | The control token is invalid. |
| UserAccessDenied | Insufficient authorization. |
| RequestNotAllowed | The operation is currently not allowed, possible reasons: mode is Programming and x4 is pressed or robot is hand-guided, task is currently running. |
| InternalError | An internal error occurred. |