opcua/plugins/codegen/org.eclipse.papyrus.uml2opcua.qvto.transformation/metamodels/robotics/Opc.Ua.Robotics.NodeSet2.xml

<?xml version="1.0" encoding="utf-8" ?>
<!--
    Copyright (c) 2022 CEA LIST.
   
     All rights reserved. This program and the accompanying materials
     are made available under the terms of the Eclipse Public License 2.0
     which accompanies this distribution, and is available at
     https://www.eclipse.org/legal/epl-2.0/
   
     SPDX-License-Identifier: EPL-2.0
     
     Contributors:
       Saadia Dhouib (CEA LIST) saadia.dhouib@cea.fr
       Fadwa Tmar (CEA LIST) fadwa.tmar@cea.fr 
 -->

<UANodeSet
	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
	xmlns:xsd="http://www.w3.org/2001/XMLSchema"
	LastModified="2019-05-06T00:00:00Z"
	xmlns="http://opcfoundation.org/UA/2011/03/UANodeSet.xsd">
	<NamespaceUris>
		<Uri>http://opcfoundation.org/UA/Robotics/</Uri>
		<Uri>http://opcfoundation.org/UA/DI/</Uri>
	</NamespaceUris>
	<Models>
		<Model ModelUri="http://opcfoundation.org/UA/Robotics/"
			Version="1.0.0" PublicationDate="2019-05-06T00:00:00Z">
			<RequiredModel ModelUri="http://opcfoundation.org/UA/"
				Version="1.04" PublicationDate="2019-05-01T00:00:00Z" />
			<RequiredModel
				ModelUri="http://opcfoundation.org/UA/DI/" Version="1.02"
				PublicationDate="2019-05-01T00:00:00Z" />
		</Model>
	</Models>
	<Aliases>
		<Alias Alias="Boolean">i=1</Alias>
		<Alias Alias="SByte">i=2</Alias>
		<Alias Alias="Byte">i=3</Alias>
		<Alias Alias="Int16">i=4</Alias>
		<Alias Alias="UInt16">i=5</Alias>
		<Alias Alias="Int32">i=6</Alias>
		<Alias Alias="UInt32">i=7</Alias>
		<Alias Alias="Int64">i=8</Alias>
		<Alias Alias="UInt64">i=9</Alias>
		<Alias Alias="Float">i=10</Alias>
		<Alias Alias="Double">i=11</Alias>
		<Alias Alias="DateTime">i=13</Alias>
		<Alias Alias="String">i=12</Alias>
		<Alias Alias="ByteString">i=15</Alias>
		<Alias Alias="Guid">i=14</Alias>
		<Alias Alias="XmlElement">i=16</Alias>
		<Alias Alias="NodeId">i=17</Alias>
		<Alias Alias="ExpandedNodeId">i=18</Alias>
		<Alias Alias="QualifiedName">i=20</Alias>
		<Alias Alias="LocalizedText">i=21</Alias>
		<Alias Alias="StatusCode">i=19</Alias>
		<Alias Alias="Structure">i=22</Alias>
		<Alias Alias="Number">i=26</Alias>
		<Alias Alias="Integer">i=27</Alias>
		<Alias Alias="UInteger">i=28</Alias>
		<Alias Alias="HasComponent">i=47</Alias>
		<Alias Alias="HasProperty">i=46</Alias>
		<Alias Alias="Organizes">i=35</Alias>
		<Alias Alias="HasEventSource">i=36</Alias>
		<Alias Alias="HasNotifier">i=48</Alias>
		<Alias Alias="HasSubtype">i=45</Alias>
		<Alias Alias="HasTypeDefinition">i=40</Alias>
		<Alias Alias="HasModellingRule">i=37</Alias>
		<Alias Alias="HasEncoding">i=38</Alias>
		<Alias Alias="HasDescription">i=39</Alias>
	</Aliases>
	<UAObject NodeId="ns=1;i=15011"
		BrowseName="1:http://opcfoundation.org/UA/Robotics/"
		SymbolicName="OPCUAROBOTICSNamespaceMetadata">
		<DisplayName>http://opcfoundation.org/UA/Robotics/</DisplayName>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/9.1
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=15034</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15064</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15091</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15114</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15145</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15173</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15209</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15583</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15584</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15585</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">i=11715
			</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=11616</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15034" BrowseName="NamespaceUri"
		ParentNodeId="ns=1;i=15011" DataType="String">
		<DisplayName>NamespaceUri</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">http://opcfoundation.org/UA/Robotics/</String>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15064"
		BrowseName="NamespaceVersion" ParentNodeId="ns=1;i=15011"
		DataType="String">
		<DisplayName>NamespaceVersion</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">0.93</String>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15091"
		BrowseName="NamespacePublicationDate" ParentNodeId="ns=1;i=15011"
		DataType="DateTime">
		<DisplayName>NamespacePublicationDate</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<DateTime
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">2019-01-23T00:00:00Z</DateTime>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15114"
		BrowseName="IsNamespaceSubset" ParentNodeId="ns=1;i=15011"
		DataType="Boolean">
		<DisplayName>IsNamespaceSubset</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<Boolean
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">false</Boolean>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15145"
		BrowseName="StaticNodeIdTypes" ParentNodeId="ns=1;i=15011"
		DataType="i=256" ValueRank="1" ArrayDimensions="0">
		<DisplayName>StaticNodeIdTypes</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<ListOfInt32
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
				<Int32>0</Int32>
			</ListOfInt32>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15173"
		BrowseName="StaticNumericNodeIdRange" ParentNodeId="ns=1;i=15011"
		DataType="i=291" ValueRank="1" ArrayDimensions="0">
		<DisplayName>StaticNumericNodeIdRange</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<ListOfString
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
				<String>1:65535</String>
			</ListOfString>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15209"
		BrowseName="StaticStringNodeIdPattern" ParentNodeId="ns=1;i=15011"
		DataType="String">
		<DisplayName>StaticStringNodeIdPattern</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
		<Value>
			<String xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
			</String>
		</Value>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15583"
		BrowseName="DefaultRolePermissions" ParentNodeId="ns=1;i=15011"
		DataType="i=96" ValueRank="1" ArrayDimensions="0">
		<DisplayName>DefaultRolePermissions</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15584"
		BrowseName="DefaultUserRolePermissions" ParentNodeId="ns=1;i=15011"
		DataType="i=96" ValueRank="1" ArrayDimensions="0">
		<DisplayName>DefaultUserRolePermissions</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15585"
		BrowseName="DefaultAccessRestrictions" ParentNodeId="ns=1;i=15011"
		DataType="i=95">
		<DisplayName>DefaultAccessRestrictions</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15011
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=1002"
		BrowseName="1:MotionDeviceSystemType">
		<DisplayName>MotionDeviceSystemType</DisplayName>
		<Description>Contains the set of controllers and motion devices in a
			closely-coupled motion device system.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=5002</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=5001</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=5010</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=5002" BrowseName="1:MotionDevices"
		ParentNodeId="ns=1;i=1002">
		<DisplayName>MotionDevices</DisplayName>
		<Description>Contains any kinematic or motion device which is part of
			the motion device system.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15008</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15008"
		BrowseName="1:&lt;MotionDeviceIdentifier&gt;"
		SymbolicName="MotionDeviceIdentifier" ParentNodeId="ns=1;i=5002">
		<DisplayName>&lt;MotionDeviceIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15024</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15045</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15047</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15053</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15048</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15058</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15062</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15208</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1004</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5002
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15024" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=15008">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15061</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15061"
		BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=15024"
		DataType="Double">
		<DisplayName>SpeedOverride</DisplayName>
		<Description>SpeedOverride provides the current speed setting in
			percent of programmed speed (0 - 100%).</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15024
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15045"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=15008"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15047" BrowseName="2:Model"
		ParentNodeId="ns=1;i=15008" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15053" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=15008" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15048"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=15008"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15058"
		BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=15008"
		DataType="ns=1;i=18193">
		<DisplayName>MotionDeviceCategory</DisplayName>
		<Description>The variable MotionDeviceCategory provides the kind of
			motion device defined by MotionDeviceCategoryEnumeration based on ISO
			8373.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=15062" BrowseName="1:Axes"
		ParentNodeId="ns=1;i=15008">
		<DisplayName>Axes</DisplayName>
		<Description>Axes is a container for one or more instances of the
			AxisType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15208" BrowseName="1:PowerTrains"
		ParentNodeId="ns=1;i=15008">
		<DisplayName>PowerTrains</DisplayName>
		<Description>PowerTrains is a container for one or more instances of
			the PowerTrainType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15008
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=5001" BrowseName="1:Controllers"
		ParentNodeId="ns=1;i=1002">
		<DisplayName>Controllers</DisplayName>
		<Description>Contains the set of controllers in the motion device
			system.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15405</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15405"
		BrowseName="1:&lt;ControllerIdentifier&gt;"
		SymbolicName="ControllerIdentifier" ParentNodeId="ns=1;i=5001">
		<DisplayName>&lt;ControllerIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=15426</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15428</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15434</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15429</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15440</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15483</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15518</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1003</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5001
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15426"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=15405"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15428" BrowseName="2:Model"
		ParentNodeId="ns=1;i=15405" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15434" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=15405" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15429"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=15405"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=15440" BrowseName="1:CurrentUser"
		ParentNodeId="ns=1;i=15405">
		<DisplayName>CurrentUser</DisplayName>
		<Description>The given name of the device.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=15441</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=18175</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15441" BrowseName="1:Level"
		ParentNodeId="ns=1;i=15440" DataType="String">
		<DisplayName>Level</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15440
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=15483" BrowseName="1:Software"
		ParentNodeId="ns=1;i=15405">
		<DisplayName>Software</DisplayName>
		<Description>Software is a container for one or more instances of
			SoftwareType defined in OPC UA DI.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15518" BrowseName="1:TaskControls"
		ParentNodeId="ns=1;i=15405">
		<DisplayName>TaskControls</DisplayName>
		<Description>TaskControls is a container for one or more instances of
			TaskControlType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15405
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=5010" BrowseName="1:SafetyStates"
		ParentNodeId="ns=1;i=1002">
		<DisplayName>SafetyStates</DisplayName>
		<Description>Contains safety-related data from motion device system.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.1.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15697</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1002
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15697"
		BrowseName="1:&lt;SafetyStateIdentifier&gt;"
		SymbolicName="SafetyStateIdentifier" ParentNodeId="ns=1;i=5010">
		<DisplayName>&lt;SafetyStateIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15698</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1013</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5010
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15698" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=15697">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15740</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15741</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15742</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15697
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15740"
		BrowseName="1:OperationalMode" ParentNodeId="ns=1;i=15698"
		DataType="ns=1;i=3006">
		<DisplayName>OperationalMode</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15741"
		BrowseName="1:EmergencyStop" ParentNodeId="ns=1;i=15698"
		DataType="Boolean">
		<DisplayName>EmergencyStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15742"
		BrowseName="1:ProtectiveStop" ParentNodeId="ns=1;i=15698"
		DataType="Boolean">
		<DisplayName>ProtectiveStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15698
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=1004"
		BrowseName="1:MotionDeviceType">
		<DisplayName>MotionDeviceType</DisplayName>
		<Description>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.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=5029</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16351</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16353</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16359</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16354</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16362</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15305</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16443</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=5091</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16566</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=5029" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=1004">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16363</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16364</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16365</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=16363" BrowseName="1:OnPath"
		ParentNodeId="ns=1;i=5029" DataType="Boolean">
		<DisplayName>OnPath</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16364" BrowseName="1:InControl"
		ParentNodeId="ns=1;i=5029" DataType="Boolean">
		<DisplayName>InControl</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16365"
		BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=5029"
		DataType="Double">
		<DisplayName>SpeedOverride</DisplayName>
		<Description>SpeedOverride provides the current speed setting in
			percent of programmed speed (0 - 100%).</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5029
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16351"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=1004"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16353" BrowseName="2:Model"
		ParentNodeId="ns=1;i=1004" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16359" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=1004" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16354"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=1004"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16362"
		BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=1004"
		DataType="ns=1;i=18193">
		<DisplayName>MotionDeviceCategory</DisplayName>
		<Description>The variable MotionDeviceCategory provides the kind of
			motion device defined by MotionDeviceCategoryEnumeration based on ISO
			8373.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=15305" BrowseName="1:Axes"
		ParentNodeId="ns=1;i=1004">
		<DisplayName>Axes</DisplayName>
		<Description>Axes is a container for one or more instances of the
			AxisType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15743</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15743"
		BrowseName="1:&lt;AxisIdentifier&gt;" SymbolicName="AxisIdentifier"
		ParentNodeId="ns=1;i=15305">
		<DisplayName>&lt;AxisIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15744</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=15808</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=16601</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15305
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15744" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=15743">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15863</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15743
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15863"
		BrowseName="1:ActualPosition" ParentNodeId="ns=1;i=15744"
		DataType="Double">
		<DisplayName>ActualPosition</DisplayName>
		<Description>The axis position inclusive Unit and RangeOfMotion.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=15869</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15744
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15869"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=15863"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15863
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15808"
		BrowseName="1:MotionProfile" ParentNodeId="ns=1;i=15743"
		DataType="ns=1;i=3008">
		<DisplayName>MotionProfile</DisplayName>
		<Description>The kind of axis motion as defined with the
			AxisMotionProfileEnumeration.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15743
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=16443" BrowseName="1:PowerTrains"
		ParentNodeId="ns=1;i=1004">
		<DisplayName>PowerTrains</DisplayName>
		<Description>PowerTrains is a container for one or more instances of
			the PowerTrainType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15905</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15905"
		BrowseName="1:&lt;PowerTrainIdentifier&gt;"
		SymbolicName="PowerTrainIdentifier" ParentNodeId="ns=1;i=16443">
		<DisplayName>&lt;PowerTrainIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=16794</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16443
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=5091" BrowseName="1:FlangeLoad"
		ParentNodeId="ns=1;i=1004">
		<DisplayName>FlangeLoad</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=6624</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1018</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=6624" BrowseName="1:Mass"
		ParentNodeId="ns=1;i=5091" DataType="Double">
		<DisplayName>Mass</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=15659</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5091
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15659"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=6624"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=6624
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=16566"
		BrowseName="1:AdditionalComponents" ParentNodeId="ns=1;i=1004">
		<DisplayName>AdditionalComponents</DisplayName>
		<Description>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.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.13
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18310</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1004
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18310"
		BrowseName="1:&lt;AdditionalComponentIdentifier&gt;"
		SymbolicName="AdditionalComponentIdentifier"
		ParentNodeId="ns=1;i=16566">
		<DisplayName>&lt;AdditionalComponentIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="i=17603">ns=2;i=15035</Reference>
			<Reference ReferenceType="i=17603">ns=2;i=15048</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=2;i=15063</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16566
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=16601"
		BrowseName="1:AxisType">
		<DisplayName>AxisType</DisplayName>
		<Description>The AxisType describes an axis of a motion device.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.3.3/#7.3.3.4
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16602</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16637</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16638</Reference>
			<Reference ReferenceType="ns=1;i=18179">ns=1;i=18344</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=16602" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=16601">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16662</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16668</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16674</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16601
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=16662"
		BrowseName="1:ActualPosition" ParentNodeId="ns=1;i=16602"
		DataType="Double">
		<DisplayName>ActualPosition</DisplayName>
		<Description>The axis position inclusive Unit and RangeOfMotion.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16667</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16667"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16662"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16662
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16668" BrowseName="1:ActualSpeed"
		ParentNodeId="ns=1;i=16602" DataType="Double">
		<DisplayName>ActualSpeed</DisplayName>
		<Description>The axis speed on load side (after gear/spindle)
			inclusive Unit.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16673</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16673"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16668"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16668
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16674"
		BrowseName="1:ActualAcceleration" ParentNodeId="ns=1;i=16602"
		DataType="Double">
		<DisplayName>ActualAcceleration</DisplayName>
		<Description>: The ActualAcceleration variable provides the axis
			acceleration. Applicable acceleration limits of the axis shall be
			provided by the EURange property of the AnalogUnitType.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16679</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16602
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16679"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16674"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16674
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16637"
		BrowseName="1:MotionProfile" ParentNodeId="ns=1;i=16601"
		DataType="ns=1;i=3008">
		<DisplayName>MotionProfile</DisplayName>
		<Description>The kind of axis motion as defined with the
			AxisMotionProfileEnumeration.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16601
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=16638" BrowseName="1:AdditionalLoad"
		ParentNodeId="ns=1;i=16601">
		<DisplayName>AdditionalLoad</DisplayName>
		<Description>The additional load which is mounted on this axis. E.g.
			for process-need a transformer for welding.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16639</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1018</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16601
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=16639" BrowseName="1:Mass"
		ParentNodeId="ns=1;i=16638" DataType="Double">
		<DisplayName>Mass</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16644</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16638
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16644"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16639"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16639
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18344"
		BrowseName="1:&lt;PowerTrainIdentifier&gt;"
		SymbolicName="PowerTrainIdentifier" ParentNodeId="ns=1;i=16601">
		<DisplayName>&lt;PowerTrainIdentifier&gt;</DisplayName>
		<Description>The Requires reference provides the relationship of axes
			to power trains. For complex kinematics this does not need to be a
			one to one relationship, because more than one power train might
			influence the motion of one axis. This reference connects all power
			trains to an axis that must be actively driven when only this axis
			should move and all other axes should stand still. Virtual axes that
			are not actively driven by a power train do not have this reference.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=16794</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18179" IsForward="false">ns=1;i=16601
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=16794"
		BrowseName="1:PowerTrainType">
		<DisplayName>PowerTrainType</DisplayName>
		<Description>The PowerTrainType represents instances of power trains
			of a motion device.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.4.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15998</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16041</Reference>
			<Reference ReferenceType="ns=1;i=18178">ns=1;i=18536</Reference>
			<Reference ReferenceType="ns=1;i=18183">ns=1;i=18613</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=15998"
		BrowseName="1:&lt;MotorIdentifier&gt;" SymbolicName="MotorIdentifier"
		ParentNodeId="ns=1;i=16794">
		<DisplayName>&lt;MotorIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15999</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16019</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16021</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16025</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16028</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1019</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16794
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15999" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=15998">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16034</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15998
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=16034"
		BrowseName="1:MotorTemperature" ParentNodeId="ns=1;i=15999"
		DataType="Double">
		<DisplayName>MotorTemperature</DisplayName>
		<Description>The motor temperature provides the temperature of the
			motor. If there is no temperature sensor the value is set to
			\"null\".</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16039</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15999
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16039"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=16034"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16034
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16019"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=15998"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15998
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16021" BrowseName="2:Model"
		ParentNodeId="ns=1;i=15998" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15998
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16025" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=15998" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15998
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16028"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=15998"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=15998
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=16041"
		BrowseName="1:&lt;GearIdentifier&gt;" SymbolicName="GearIdentifier"
		ParentNodeId="ns=1;i=16794">
		<DisplayName>&lt;GearIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=16062</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16064</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16068</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=16071</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16076</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1022</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16794
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=16062"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=16041"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16041
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16064" BrowseName="2:Model"
		ParentNodeId="ns=1;i=16041" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16041
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16068" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=16041" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16041
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16071"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=16041"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=16041
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16076" BrowseName="1:GearRatio"
		ParentNodeId="ns=1;i=16041" DataType="i=18806">
		<DisplayName>GearRatio</DisplayName>
		<Description>The transmission ratio of the gear expressed as a
			fraction as input velocity (motor side) by output velocity (load
			side).</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16077</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16078</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17709</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16041
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16077" BrowseName="Numerator"
		ParentNodeId="ns=1;i=16076" DataType="Int32">
		<DisplayName>Numerator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16076
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16078" BrowseName="Denominator"
		ParentNodeId="ns=1;i=16076" DataType="UInt32">
		<DisplayName>Denominator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16076
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18536"
		BrowseName="1:&lt;AxisIdentifier&gt;" SymbolicName="AxisIdentifier"
		ParentNodeId="ns=1;i=16794">
		<DisplayName>&lt;AxisIdentifier&gt;</DisplayName>
		<Description>Moves is a reference to provide the relationship of power
			trains to axes. For complex kinematics this does not need to be a one
			to one relationship, because a power train might influence the motion
			of more than one axis. This reference connects all axis to a power
			train that that move when only this power train moves and all other
			powertains stand still.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18537</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18570</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=16601</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18178" IsForward="false">ns=1;i=16794
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18537" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=18536">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18595</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18536
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18595"
		BrowseName="1:ActualPosition" ParentNodeId="ns=1;i=18537"
		DataType="Double">
		<DisplayName>ActualPosition</DisplayName>
		<Description>The axis position inclusive Unit and RangeOfMotion.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18600</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18537
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18600"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=18595"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18595
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18570"
		BrowseName="1:MotionProfile" ParentNodeId="ns=1;i=18536"
		DataType="ns=1;i=3008">
		<DisplayName>MotionProfile</DisplayName>
		<Description>The kind of axis motion as defined with the
			AxisMotionProfileEnumeration.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18536
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18613"
		BrowseName="1:&lt;PowerTrainIdentifier&gt;"
		SymbolicName="PowerTrainIdentifier" ParentNodeId="ns=1;i=16794">
		<DisplayName>&lt;PowerTrainIdentifier&gt;</DisplayName>
		<Description>HasSlave is a reference to provide the master-slave
			relationship of power trains which provide torque for a common axis.
			The InverseName is IsSlaveOf.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=16794</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18183" IsForward="false">ns=1;i=16794
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=1019"
		BrowseName="1:MotorType">
		<DisplayName>MotorType</DisplayName>
		<Description>The MotorType is for representing instances of electric
			motors.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.5.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=5105</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17101</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17103</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17109</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17104</Reference>
			<Reference ReferenceType="ns=1;i=18181">ns=1;i=18727</Reference>
			<Reference ReferenceType="ns=1;i=18180">ns=1;i=18763</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=5105" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=1019">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=17150</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=6757</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=6776</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=17150"
		BrowseName="1:BrakeReleased" ParentNodeId="ns=1;i=5105"
		DataType="Boolean">
		<DisplayName>BrakeReleased</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5105
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=6757"
		BrowseName="1:MotorTemperature" ParentNodeId="ns=1;i=5105"
		DataType="Double">
		<DisplayName>MotorTemperature</DisplayName>
		<Description>The motor temperature provides the temperature of the
			motor. If there is no temperature sensor the value is set to
			\"null\".</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=6762</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5105
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=6762"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=6757"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=6757
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=6776"
		BrowseName="1:EffectiveLoadRate" ParentNodeId="ns=1;i=5105"
		DataType="UInt16">
		<DisplayName>EffectiveLoadRate</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5105
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17101"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=1019"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17103" BrowseName="2:Model"
		ParentNodeId="ns=1;i=1019" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17109" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=1019" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17104"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=1019"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18727"
		BrowseName="1:&lt;GearIdentifier&gt;" SymbolicName="GearIdentifier"
		ParentNodeId="ns=1;i=1019">
		<DisplayName>&lt;GearIdentifier&gt;</DisplayName>
		<Description>IsConnectedTo is a reference to provide the relationship
			between a motor and a gear of a power train.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18748</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18750</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18756</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18751</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18761</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1022</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18181" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18748"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=18727"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18727
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18750" BrowseName="2:Model"
		ParentNodeId="ns=1;i=18727" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18727
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18756" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=18727" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18727
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18751"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=18727"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18727
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18761" BrowseName="1:GearRatio"
		ParentNodeId="ns=1;i=18727" DataType="i=18806">
		<DisplayName>GearRatio</DisplayName>
		<Description>The transmission ratio of the gear expressed as a
			fraction as input velocity (motor side) by output velocity (load
			side).</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15613</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15614</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17709</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18727
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15613" BrowseName="Numerator"
		ParentNodeId="ns=1;i=18761" DataType="Int32">
		<DisplayName>Numerator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18761
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15614" BrowseName="Denominator"
		ParentNodeId="ns=1;i=18761" DataType="UInt32">
		<DisplayName>Denominator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18761
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18763"
		BrowseName="1:&lt;DriveIdentifiier&gt;"
		SymbolicName="DriveIdentifiier" ParentNodeId="ns=1;i=1019">
		<DisplayName>&lt;DriveIdentifiier&gt;</DisplayName>
		<Description>IsDrivenBy is a reference to provide a relationship from
			a motor to a drive, which can be a multi-slot-drive or single slot
			drive. The TypeDefinition of the reference destination as
			BaseObjectType provides the possibility to point to a slot of a
			mulit-slot-drive or a motor-integrated-drive. If this reference
			points to a physical drive (and not a drive slot) it should point to
			an DriveType.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18180" IsForward="false">ns=1;i=1019
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=1022" BrowseName="1:GearType">
		<DisplayName>GearType</DisplayName>
		<Description>The GearType describes a gear in a power train, e.g. a
			gear box or a spindle.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.6.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17152</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17154</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17160</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17155</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15941</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17165</Reference>
			<Reference ReferenceType="ns=1;i=18181">ns=1;i=18764</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=17152"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=1022"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17154" BrowseName="2:Model"
		ParentNodeId="ns=1;i=1022" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17160" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=1022" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17155"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=1022"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15941" BrowseName="1:GearRatio"
		ParentNodeId="ns=1;i=1022" DataType="i=18806">
		<DisplayName>GearRatio</DisplayName>
		<Description>The transmission ratio of the gear expressed as a
			fraction as input velocity (motor side) by output velocity (load
			side).</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15615</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15616</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17709</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15615" BrowseName="Numerator"
		ParentNodeId="ns=1;i=15941" DataType="Int32">
		<DisplayName>Numerator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15941
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15616" BrowseName="Denominator"
		ParentNodeId="ns=1;i=15941" DataType="UInt32">
		<DisplayName>Denominator</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15941
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17165" BrowseName="1:Pitch"
		ParentNodeId="ns=1;i=1022" DataType="Double">
		<DisplayName>Pitch</DisplayName>
		<Description>Pitch describes the distance covered in millimeters (mm)
			for linear motion per one revolution of the output side of the
			driving unit. Pitch is used in combination with GearRatio to describe
			the overall transmission from input to output of the gear.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18764"
		BrowseName="1:&lt;MotorIdentifier&gt;" SymbolicName="MotorIdentifier"
		ParentNodeId="ns=1;i=1022">
		<DisplayName>&lt;MotorIdentifier&gt;</DisplayName>
		<Description>IsConnectedTo is a reference to provide the relationship
			between a motor and a gear of a power train.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18765</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18785</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18787</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18793</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18788</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1019</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18181" IsForward="false">ns=1;i=1022
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18765" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=18764">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18799</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18764
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18799"
		BrowseName="1:MotorTemperature" ParentNodeId="ns=1;i=18765"
		DataType="Double">
		<DisplayName>MotorTemperature</DisplayName>
		<Description>The motor temperature provides the temperature of the
			motor. If there is no temperature sensor the value is set to
			\"null\".</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18804</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18765
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18804"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=18799"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18799
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18785"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=18764"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18764
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18787" BrowseName="2:Model"
		ParentNodeId="ns=1;i=18764" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18764
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18793" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=18764" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18764
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18788"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=18764"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18764
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=1013"
		BrowseName="1:SafetyStateType">
		<DisplayName>SafetyStateType</DisplayName>
		<Description>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.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=5016</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17221</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17225</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=5016" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=1013">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15912</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15882</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15913</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1013
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=15912"
		BrowseName="1:OperationalMode" ParentNodeId="ns=1;i=5016"
		DataType="ns=1;i=3006">
		<DisplayName>OperationalMode</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5016
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15882"
		BrowseName="1:EmergencyStop" ParentNodeId="ns=1;i=5016"
		DataType="Boolean">
		<DisplayName>EmergencyStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5016
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15913"
		BrowseName="1:ProtectiveStop" ParentNodeId="ns=1;i=5016"
		DataType="Boolean">
		<DisplayName>ProtectiveStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5016
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=17221"
		BrowseName="1:EmergencyStopFunctions" ParentNodeId="ns=1;i=1013">
		<DisplayName>EmergencyStopFunctions</DisplayName>
		<Description>EmergencyStopFunctions is a container for one or more
			instances of the EmergencyStopFunctionType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18806</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1013
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18806"
		BrowseName="1:&lt;EmergencyStopFunctionIdentifier&gt;"
		SymbolicName="EmergencyStopFunctionIdentifier"
		ParentNodeId="ns=1;i=17221">
		<DisplayName>&lt;EmergencyStopFunctionIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18807</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18808</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=17230</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17221
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18807" BrowseName="1:Name"
		ParentNodeId="ns=1;i=18806" DataType="String">
		<DisplayName>Name</DisplayName>
		<Description>The Name of the EmergencyStopFunctionType provides a
			manufacturer-specific emergency stop function identifier within the
			safety system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18806
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18808" BrowseName="1:Active"
		ParentNodeId="ns=1;i=18806" DataType="Boolean">
		<DisplayName>Active</DisplayName>
		<Description>The Active variable is TRUE if this particular emergency
			stop function is active, e.g. that the emergency stop button is
			pressed, FALSE otherwise.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18806
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=17225"
		BrowseName="1:ProtectiveStopFunctions" ParentNodeId="ns=1;i=1013">
		<DisplayName>ProtectiveStopFunctions</DisplayName>
		<Description>ProtectiveStopFunctions is a container for one or more
			instances of the ProtectiveStopFunctionType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.3
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18809</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1013
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18809"
		BrowseName="1:&lt;ProtectiveStopFunctionIdentifier&gt;"
		SymbolicName="ProtectiveStopFunctionIdentifier"
		ParentNodeId="ns=1;i=17225">
		<DisplayName>&lt;ProtectiveStopFunctionIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18810</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18811</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18812</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=17233</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17225
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18810" BrowseName="1:Name"
		ParentNodeId="ns=1;i=18809" DataType="String">
		<DisplayName>Name</DisplayName>
		<Description>The Name of the ProtectiveStopFunctionType provides a
			manufacturer-specific protective stop function identifier within the
			safety system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18809
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18811" BrowseName="1:Enabled"
		ParentNodeId="ns=1;i=18809" DataType="Boolean">
		<DisplayName>Enabled</DisplayName>
		<Description>– The Enabled variable is TRUE if this protective stop
			function is currently supervising the system, FALSE otherwise. A
			protective stop function may or may not be enabled at all times, e.g.
			the protective stop function of the safety doors are typically
			enabled in automatic operational mode and disabled in manual mode. On
			the other hand for example, the protective stop function of the teach
			pendant enabling device is enabled in manual modes and disabled in
			automatic modes.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18809
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18812" BrowseName="1:Active"
		ParentNodeId="ns=1;i=18809" DataType="Boolean">
		<DisplayName>Active</DisplayName>
		<Description>– The Active variable is TRUE if this particular
			protective stop function is active, i.e. that a stop is initiated,
			FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18809
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=17230"
		BrowseName="1:EmergencyStopFunctionType">
		<DisplayName>EmergencyStopFunctionType</DisplayName>
		<Description>According to ISO 10218-1:2011 Ch.5.5.2 Emergency stop the
			robot shall have one or more emergency stop functions.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17231</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17232</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=58
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=17231" BrowseName="1:Name"
		ParentNodeId="ns=1;i=17230" DataType="String">
		<DisplayName>Name</DisplayName>
		<Description>The Name of the EmergencyStopFunctionType provides a
			manufacturer-specific emergency stop function identifier within the
			safety system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17230
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17232" BrowseName="1:Active"
		ParentNodeId="ns=1;i=17230" DataType="Boolean">
		<DisplayName>Active</DisplayName>
		<Description>The Active variable is TRUE if this particular emergency
			stop function is active, e.g. that the emergency stop button is
			pressed, FALSE otherwise.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17230
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=17233"
		BrowseName="1:ProtectiveStopFunctionType">
		<DisplayName>ProtectiveStopFunctionType</DisplayName>
		<Description>According to ISO 10218-1:2011 Ch.5.5.3 the robot shall
			have one or more protective stop functions designed for the
			connection of external protective devices.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.3
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17234</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17235</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17236</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=58
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=17234" BrowseName="1:Name"
		ParentNodeId="ns=1;i=17233" DataType="String">
		<DisplayName>Name</DisplayName>
		<Description>The Name of the ProtectiveStopFunctionType provides a
			manufacturer-specific protective stop function identifier within the
			safety system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17233
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17235" BrowseName="1:Enabled"
		ParentNodeId="ns=1;i=17233" DataType="Boolean">
		<DisplayName>Enabled</DisplayName>
		<Description>– The Enabled variable is TRUE if this protective stop
			function is currently supervising the system, FALSE otherwise. A
			protective stop function may or may not be enabled at all times, e.g.
			the protective stop function of the safety doors are typically
			enabled in automatic operational mode and disabled in manual mode. On
			the other hand for example, the protective stop function of the teach
			pendant enabling device is enabled in manual modes and disabled in
			automatic modes.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17233
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17236" BrowseName="1:Active"
		ParentNodeId="ns=1;i=17233" DataType="Boolean">
		<DisplayName>Active</DisplayName>
		<Description>– The Active variable is TRUE if this particular
			protective stop function is active, i.e. that a stop is initiated,
			FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17233
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=1003"
		BrowseName="1:ControllerType">
		<DisplayName>ControllerType</DisplayName>
		<Description>The ControllerType describes the control unit of motion
			devices. One motion device system can have one or more instances of
			the ControllerType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.12
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=5004</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17237</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17239</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17245</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17240</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17249</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17252</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15800</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15826</Reference>
			<Reference ReferenceType="ns=1;i=18182">ns=1;i=18918</Reference>
			<Reference ReferenceType="ns=1;i=4002">ns=1;i=18964</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=5004" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=1003">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=17358</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15366</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=15365</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17359</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17365</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17371</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17377</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17383</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=17358"
		BrowseName="1:TotalPowerOnTime" ParentNodeId="ns=1;i=5004"
		DataType="i=12879">
		<DisplayName>TotalPowerOnTime</DisplayName>
		<Description>The total accumulated time the controller was powered on.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15366" BrowseName="1:StartUpTime"
		ParentNodeId="ns=1;i=5004" DataType="DateTime">
		<DisplayName>StartUpTime</DisplayName>
		<Description>The date and time of the last start-up of the controller.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=15365" BrowseName="1:UpsState"
		ParentNodeId="ns=1;i=5004" DataType="String">
		<DisplayName>UpsState</DisplayName>
		<Description>The vendor specific status of an integrated UPS or
			accumulator system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17359"
		BrowseName="1:TotalEnergyConsumption" ParentNodeId="ns=1;i=5004"
		DataType="Double">
		<DisplayName>TotalEnergyConsumption</DisplayName>
		<Description>The total accumulated energy consumed by the motion
			devices related with this controller instance.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17364</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17364"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=17359"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17359
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17365"
		BrowseName="1:CabinetFanSpeed" ParentNodeId="ns=1;i=5004"
		DataType="Double">
		<DisplayName>CabinetFanSpeed</DisplayName>
		<Description>The speed of the cabinet fan.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17370</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17370"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=17365"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17365
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17371" BrowseName="1:CPUFanSpeed"
		ParentNodeId="ns=1;i=5004" DataType="Double">
		<DisplayName>CPUFanSpeed</DisplayName>
		<Description>The speed of the CPU fan.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17376</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17376"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=17371"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17371
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17377"
		BrowseName="1:InputVoltage" ParentNodeId="ns=1;i=5004"
		DataType="Double">
		<DisplayName>InputVoltage</DisplayName>
		<Description>The input voltage of the controller which can be a
			configured value. To distuinguish between an AC or DC supply the
			optional property Definition of the base type DataItemType shall be
			used.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17382</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17382"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=17377"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17377
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17383" BrowseName="1:Temperature"
		ParentNodeId="ns=1;i=5004" DataType="Double">
		<DisplayName>Temperature</DisplayName>
		<Description>The controller temperature given by a temperature sensor
			inside of the controller.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17388</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=5004
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17388"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=17383"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17383
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17237"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=1003"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17239" BrowseName="2:Model"
		ParentNodeId="ns=1;i=1003" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17245" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=1003" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17240"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=1003"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=17249" BrowseName="1:CurrentUser"
		ParentNodeId="ns=1;i=1003">
		<DisplayName>CurrentUser</DisplayName>
		<Description>The given name of the device.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17250</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=18175</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=17250" BrowseName="1:Level"
		ParentNodeId="ns=1;i=17249" DataType="String">
		<DisplayName>Level</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17249
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=17252" BrowseName="1:Components"
		ParentNodeId="ns=1;i=1003">
		<DisplayName>Components</DisplayName>
		<Description>Components is a container for one or more instances of
			subtypes of ComponentType defined in OPC UA DI. The listed components
			are installed in the motion device system, e.g. a processing-unit, a
			power-supply, an IO-board or a drive, and have an electrical
			interface to the controller.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.9
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18813</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18813"
		BrowseName="1:&lt;ComponentIdentifier&gt;"
		SymbolicName="ComponentIdentifier" ParentNodeId="ns=1;i=17252">
		<DisplayName>&lt;ComponentIdentifier&gt;</DisplayName>
		<Description>The intention is to integrate inside this container
			devices which are defined in other companion specifications using DI.</Description>
		<References>
			<Reference ReferenceType="i=17603">ns=2;i=15035</Reference>
			<Reference ReferenceType="i=17603">ns=2;i=15048</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=2;i=15063</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=17252
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=15800" BrowseName="1:Software"
		ParentNodeId="ns=1;i=1003">
		<DisplayName>Software</DisplayName>
		<Description>Software is a container for one or more instances of
			SoftwareType defined in OPC UA DI.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18847</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18847"
		BrowseName="1:&lt;SoftwareIdentifier&gt;"
		SymbolicName="SoftwareIdentifier" ParentNodeId="ns=1;i=15800">
		<DisplayName>&lt;SoftwareIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18868</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18870</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18873</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=2;i=15106</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15800
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18868"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=18847"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18847
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18870" BrowseName="2:Model"
		ParentNodeId="ns=1;i=18847" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18847
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18873"
		BrowseName="2:SoftwareRevision" ParentNodeId="ns=1;i=18847"
		DataType="String">
		<DisplayName>SoftwareRevision</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18847
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=15826" BrowseName="1:TaskControls"
		ParentNodeId="ns=1;i=1003">
		<DisplayName>TaskControls</DisplayName>
		<Description>TaskControls is a container for one or more instances of
			TaskControlType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.8.3/#7.8.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18881</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18881"
		BrowseName="1:&lt;TaskControlIdentifier&gt;"
		SymbolicName="TaskControlIdentifier" ParentNodeId="ns=1;i=15826">
		<DisplayName>&lt;TaskControlIdentifier&gt;</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18882</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18914</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1011</Reference>
			<Reference ReferenceType="HasModellingRule">i=11510</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15826
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18882" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=18881">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18915</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18916</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18881
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18915"
		BrowseName="1:TaskProgramName" ParentNodeId="ns=1;i=18882"
		DataType="String">
		<DisplayName>TaskProgramName</DisplayName>
		<Description>A customer given identifier for the task program.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18882
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18916"
		BrowseName="1:TaskProgramLoaded" ParentNodeId="ns=1;i=18882"
		DataType="Boolean">
		<DisplayName>TaskProgramLoaded</DisplayName>
		<Description>The TaskProgramLoaded variable is TRUE if a task program
			is loaded in the task control, FALSE otherwise.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18882
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18914"
		BrowseName="2:ComponentName" ParentNodeId="ns=1;i=18881"
		DataType="LocalizedText">
		<DisplayName>ComponentName</DisplayName>
		<Description>A user writeable name provided by the vendor, integrator
			or user of the device.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18881
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18918"
		BrowseName="1:&lt;SafetyStatesIdentifier&gt;"
		SymbolicName="SafetyStatesIdentifier" ParentNodeId="ns=1;i=1003">
		<DisplayName>&lt;SafetyStatesIdentifier&gt;</DisplayName>
		<Description>The relationship of safety states to a controller.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18919</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1013</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=18182" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18919" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=18918">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18961</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18962</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18963</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18918
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=18961"
		BrowseName="1:OperationalMode" ParentNodeId="ns=1;i=18919"
		DataType="ns=1;i=3006">
		<DisplayName>OperationalMode</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18919
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18962"
		BrowseName="1:EmergencyStop" ParentNodeId="ns=1;i=18919"
		DataType="Boolean">
		<DisplayName>EmergencyStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18919
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18963"
		BrowseName="1:ProtectiveStop" ParentNodeId="ns=1;i=18919"
		DataType="Boolean">
		<DisplayName>ProtectiveStop</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18919
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=18964"
		BrowseName="1:&lt;MotionDeviceIdentifier&gt;"
		SymbolicName="MotionDeviceIdentifier" ParentNodeId="ns=1;i=1003">
		<DisplayName>&lt;MotionDeviceIdentifier&gt;</DisplayName>
		<Description>The relationship of a motion device and controller.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18965</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18985</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18987</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18993</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18988</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18998</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=19002</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=19080</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1004</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=4002" IsForward="false">ns=1;i=1003
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=18965" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=18964">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=19001</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=19001"
		BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=18965"
		DataType="Double">
		<DisplayName>SpeedOverride</DisplayName>
		<Description>SpeedOverride provides the current speed setting in
			percent of programmed speed (0 - 100%).</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18965
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18985"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=18964"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18987" BrowseName="2:Model"
		ParentNodeId="ns=1;i=18964" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18993" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=18964" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18988"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=18964"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18998"
		BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=18964"
		DataType="ns=1;i=18193">
		<DisplayName>MotionDeviceCategory</DisplayName>
		<Description>The variable MotionDeviceCategory provides the kind of
			motion device defined by MotionDeviceCategoryEnumeration based on ISO
			8373.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=19002" BrowseName="1:Axes"
		ParentNodeId="ns=1;i=18964">
		<DisplayName>Axes</DisplayName>
		<Description>Axes is a container for one or more instances of the
			AxisType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=19080" BrowseName="1:PowerTrains"
		ParentNodeId="ns=1;i=18964">
		<DisplayName>PowerTrains</DisplayName>
		<Description>PowerTrains is a container for one or more instances of
			the PowerTrainType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18964
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=17725"
		BrowseName="1:AuxiliaryComponentType">
		<DisplayName>AuxiliaryComponentType</DisplayName>
		<Description>Components mounted in a controller cabinet or a motion
			device e.g. an IO-board or a power supply.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.9.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17756</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=1002
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=17756" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=17725" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17725
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=17793"
		BrowseName="1:DriveType">
		<DisplayName>DriveType</DisplayName>
		<Description>Drives (multi-slot or single-slot axis amplifier) mounted
			in a controller cabinet or a motion device.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.10.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=17824</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=1002
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=17824" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=17793" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=17793
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=1011"
		BrowseName="1:TaskControlType">
		<DisplayName>TaskControlType</DisplayName>
		<Description>Represents a specific task control active on the
			controller.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.11.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=15883</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=17873</Reference>
			<Reference ReferenceType="ns=1;i=4002">ns=1;i=19254</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">ns=2;i=15063
			</Reference>
		</References>
	</UAObjectType>
	<UAObject NodeId="ns=1;i=15883" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=1011">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=17874</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17875</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=17876</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1011
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=17874"
		BrowseName="1:TaskProgramName" ParentNodeId="ns=1;i=15883"
		DataType="String">
		<DisplayName>TaskProgramName</DisplayName>
		<Description>A customer given identifier for the task program.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15883
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17875"
		BrowseName="1:TaskProgramLoaded" ParentNodeId="ns=1;i=15883"
		DataType="Boolean">
		<DisplayName>TaskProgramLoaded</DisplayName>
		<Description>The TaskProgramLoaded variable is TRUE if a task program
			is loaded in the task control, FALSE otherwise.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15883
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17876"
		BrowseName="1:ExecutionMode" ParentNodeId="ns=1;i=15883"
		DataType="ns=1;i=18191">
		<DisplayName>ExecutionMode</DisplayName>
		<Description>Execution mode of the task control (continuous or
			step-wise).</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=15883
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=17873"
		BrowseName="2:ComponentName" ParentNodeId="ns=1;i=1011"
		DataType="LocalizedText">
		<DisplayName>ComponentName</DisplayName>
		<Description>A user writeable name provided by the vendor, integrator
			or user of the device.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=1011
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=19254"
		BrowseName="1:&lt;MotionDeviceIdentifier&gt;"
		SymbolicName="MotionDeviceIdentifier" ParentNodeId="ns=1;i=1011">
		<DisplayName>&lt;MotionDeviceIdentifier&gt;</DisplayName>
		<Description>Controls is a reference to provide the relationship
			between a task control and a motion device.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=19255</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=19275</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=19277</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=19283</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=19278</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=19288</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=19292</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=19370</Reference>
			<Reference ReferenceType="HasTypeDefinition">ns=1;i=1004</Reference>
			<Reference ReferenceType="HasModellingRule">i=11508</Reference>
			<Reference ReferenceType="ns=1;i=4002" IsForward="false">ns=1;i=1011
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=19255" BrowseName="2:ParameterSet"
		ParentNodeId="ns=1;i=19254">
		<DisplayName>ParameterSet</DisplayName>
		<Description>Flat list of Parameters</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=19291</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=58</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAObject>
	<UAVariable NodeId="ns=1;i=19291"
		BrowseName="1:SpeedOverride" ParentNodeId="ns=1;i=19255"
		DataType="Double">
		<DisplayName>SpeedOverride</DisplayName>
		<Description>SpeedOverride provides the current speed setting in
			percent of programmed speed (0 - 100%).</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=19255
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=19275"
		BrowseName="2:Manufacturer" ParentNodeId="ns=1;i=19254"
		DataType="LocalizedText">
		<DisplayName>Manufacturer</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=19277" BrowseName="2:Model"
		ParentNodeId="ns=1;i=19254" DataType="LocalizedText">
		<DisplayName>Model</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=19283" BrowseName="2:ProductCode"
		ParentNodeId="ns=1;i=19254" DataType="String">
		<DisplayName>ProductCode</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=19278"
		BrowseName="2:SerialNumber" ParentNodeId="ns=1;i=19254"
		DataType="String">
		<DisplayName>SerialNumber</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=19288"
		BrowseName="1:MotionDeviceCategory" ParentNodeId="ns=1;i=19254"
		DataType="ns=1;i=18193">
		<DisplayName>MotionDeviceCategory</DisplayName>
		<Description>The variable MotionDeviceCategory provides the kind of
			motion device defined by MotionDeviceCategoryEnumeration based on ISO
			8373.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAVariable>
	<UAObject NodeId="ns=1;i=19292" BrowseName="1:Axes"
		ParentNodeId="ns=1;i=19254">
		<DisplayName>Axes</DisplayName>
		<Description>Axes is a container for one or more instances of the
			AxisType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.10
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAObject>
	<UAObject NodeId="ns=1;i=19370" BrowseName="1:PowerTrains"
		ParentNodeId="ns=1;i=19254">
		<DisplayName>PowerTrains</DisplayName>
		<Description>PowerTrains is a container for one or more instances of
			the PowerTrainType.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.11
		</Documentation>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=61</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=19254
			</Reference>
		</References>
	</UAObject>
	<UAObjectType NodeId="ns=1;i=1018" BrowseName="1:LoadType">
		<DisplayName>LoadType</DisplayName>
		<Description>The LoadType is for describing loads mounted on the
			motion device typically by an integrator or a customer.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.12.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=6723</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=6013</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18170</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=58
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=6723" BrowseName="1:Mass"
		ParentNodeId="ns=1;i=1018" DataType="Double">
		<DisplayName>Mass</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=6728</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17497</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1018
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=6728"
		BrowseName="EngineeringUnits" ParentNodeId="ns=1;i=6723"
		DataType="i=887">
		<DisplayName>EngineeringUnits</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=6723
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=6013" BrowseName="1:CenterOfMass"
		ParentNodeId="ns=1;i=1018" DataType="i=18814">
		<DisplayName>CenterOfMass</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16130</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16132</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=18791</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1018
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16130"
		BrowseName="CartesianCoordinates" ParentNodeId="ns=1;i=6013"
		DataType="i=18810">
		<DisplayName>CartesianCoordinates</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16134</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16135</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16136</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=18774</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=6013
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16134" BrowseName="X"
		ParentNodeId="ns=1;i=16130" DataType="Double">
		<DisplayName>X</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16130
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16135" BrowseName="Y"
		ParentNodeId="ns=1;i=16130" DataType="Double">
		<DisplayName>Y</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16130
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16136" BrowseName="Z"
		ParentNodeId="ns=1;i=16130" DataType="Double">
		<DisplayName>Z</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16130
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16132" BrowseName="Orientation"
		ParentNodeId="ns=1;i=6013" DataType="i=18812">
		<DisplayName>Orientation</DisplayName>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=16137</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16138</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=16139</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=18781</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=6013
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16137" BrowseName="A"
		ParentNodeId="ns=1;i=16132" DataType="Double">
		<DisplayName>A</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16132
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16138" BrowseName="B"
		ParentNodeId="ns=1;i=16132" DataType="Double">
		<DisplayName>B</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16132
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=16139" BrowseName="C"
		ParentNodeId="ns=1;i=16132" DataType="Double">
		<DisplayName>C</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=16132
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18170" BrowseName="1:Inertia"
		ParentNodeId="ns=1;i=1018" DataType="i=18808">
		<DisplayName>Inertia</DisplayName>
		<Description>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.</Description>
		<References>
			<Reference ReferenceType="HasComponent">ns=1;i=18171</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18172</Reference>
			<Reference ReferenceType="HasComponent">ns=1;i=18173</Reference>
			<Reference ReferenceType="HasTypeDefinition">i=17716</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=1018
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18171" BrowseName="X"
		ParentNodeId="ns=1;i=18170" DataType="Double">
		<DisplayName>X</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18170
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18172" BrowseName="Y"
		ParentNodeId="ns=1;i=18170" DataType="Double">
		<DisplayName>Y</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18170
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18173" BrowseName="Z"
		ParentNodeId="ns=1;i=18170" DataType="Double">
		<DisplayName>Z</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=63</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasComponent" IsForward="false">ns=1;i=18170
			</Reference>
		</References>
	</UAVariable>
	<UAObjectType NodeId="ns=1;i=18175"
		BrowseName="1:UserType">
		<DisplayName>UserType</DisplayName>
		<Description>The UserType ObjectType describes information of the
			registred user groups within the control system.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.13.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18176</Reference>
			<Reference ReferenceType="HasProperty">ns=1;i=18177</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=58
			</Reference>
		</References>
	</UAObjectType>
	<UAVariable NodeId="ns=1;i=18176" BrowseName="1:Level"
		ParentNodeId="ns=1;i=18175" DataType="String">
		<DisplayName>Level</DisplayName>
		<Description>The weight of the load mounted on one mounting point.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18175
			</Reference>
		</References>
	</UAVariable>
	<UAVariable NodeId="ns=1;i=18177" BrowseName="1:Name"
		ParentNodeId="ns=1;i=18175" DataType="String">
		<DisplayName>Name</DisplayName>
		<Description>The name for the current user within the control system.</Description>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=80</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18175
			</Reference>
		</References>
	</UAVariable>
	<UAReferenceType NodeId="ns=1;i=4002"
		BrowseName="1:Controls">
		<DisplayName>Controls</DisplayName>
		<Description>Reference: Describe dependencies between objects which
			have a controlling character.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>IsControlledBy</InverseName>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18178"
		BrowseName="1:Moves">
		<DisplayName>Moves</DisplayName>
		<Description>Reference: Describe the coupling between a power train
			and the axes from the power train point of view.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.3
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>IsMovedBy</InverseName>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18179"
		BrowseName="1:Requires">
		<DisplayName>Requires</DisplayName>
		<Description>Reference: Describe the coupling between a power train
			and axes from the axis point of view. An axis has a Requires
			reference to all powertrains that need to move such that only this
			single axis moves.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.4
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>IsRequiredBy</InverseName>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18180"
		BrowseName="1:IsDrivenBy">
		<DisplayName>IsDrivenBy</DisplayName>
		<Description>Reference: Describe dependencies between objects which
			have a driving or powering character. The BrowseName IsDrivenBy and
			the InverseName Drives describe semantically the hierarchical
			dependency.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.5
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>Drives</InverseName>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18181"
		BrowseName="1:IsConnectedTo" Symmetric="true">
		<DisplayName>IsConnectedTo</DisplayName>
		<Description>Reference: Describe dependencies between objects which
			are mounted or mechanically linked or connected to each other. The
			IsConnectedTo reference is symmetric and has no InverseName.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.6
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=32
			</Reference>
		</References>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18182"
		BrowseName="1:HasSafetyStates">
		<DisplayName>HasSafetyStates</DisplayName>
		<Description>Reference: Describe dependencies between objects to show
			which (controller) object is responsible for the execution of the
			safety-functionality. The BrowseName HasSafetyStates and the
			InverseName SafetyStatesOf describe semantically the hierarchical
			dependency.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.7
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>SafetyStatesOf</InverseName>
	</UAReferenceType>
	<UAReferenceType NodeId="ns=1;i=18183"
		BrowseName="1:HasSlave">
		<DisplayName>HasSlave</DisplayName>
		<Description>Reference: Provide the master-slave relationship of power
			trains which provide torque for a common axis. The InverseName is
			IsSlaveOf.</Description>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/8.8
		</Documentation>
		<References>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=33
			</Reference>
		</References>
		<InverseName>IsSlaveOf</InverseName>
	</UAReferenceType>
	<UADataType NodeId="ns=1;i=18191"
		BrowseName="1:ExecutionModeEnumeration">
		<DisplayName>ExecutionModeEnumeration</DisplayName>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.11.3/#7.11.3.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18192</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=29
			</Reference>
		</References>
		<Definition Name="1:ExecutionModeEnumeration">
			<Field Name="CYCLE" Value="0">
				<Description>Single execution of a task program according to ISO
					8373.</Description>
			</Field>
			<Field Name="CONTINUOUS" Value="1">
				<Description>Task program is executed continuously and starts again
					automatically.</Description>
			</Field>
			<Field Name="STEP" Value="2">
				<Description>Task program is executed in steps.</Description>
			</Field>
		</Definition>
	</UADataType>
	<UAVariable NodeId="ns=1;i=18192" BrowseName="EnumStrings"
		ParentNodeId="ns=1;i=18191" DataType="LocalizedText" ValueRank="1"
		ArrayDimensions="0">
		<DisplayName>EnumStrings</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18191
			</Reference>
		</References>
		<Value>
			<ListOfLocalizedText
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>CYCLE</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>CONTINUOUS</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>STEP</Text>
				</LocalizedText>
			</ListOfLocalizedText>
		</Value>
	</UAVariable>
	<UADataType NodeId="ns=1;i=18193"
		BrowseName="1:MotionDeviceCategoryEnumeration">
		<DisplayName>MotionDeviceCategoryEnumeration</DisplayName>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.2.3/#7.2.3.8
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=18194</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=29
			</Reference>
		</References>
		<Definition Name="1:MotionDeviceCategoryEnumeration">
			<Field Name="OTHER" Value="0">
				<Description>Any MotionDevice which is not defined by the
					MotionDeviceCategoryEnumeration.</Description>
			</Field>
			<Field Name="ARTICULATED_ROBOT" Value="1">
				<Description>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.</Description>
			</Field>
			<Field Name="SCARA_ROBOT" Value="2">
				<Description>The robot has two parallel rotary joints that ensure
					compliance in a specified plane.</Description>
			</Field>
			<Field Name="CARTESIAN_ROBOT" Value="3">
				<Description>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.</Description>
			</Field>
			<Field Name="SPHERICAL_ROBOT" Value="4">
				<Description>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.</Description>
			</Field>
			<Field Name="PARALLEL_ROBOT" Value="5">
				<Description>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.</Description>
			</Field>
			<Field Name="CYLINDRICAL_ROBOT" Value="6">
				<Description>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.</Description>
			</Field>
		</Definition>
	</UADataType>
	<UAVariable NodeId="ns=1;i=18194" BrowseName="EnumStrings"
		ParentNodeId="ns=1;i=18193" DataType="LocalizedText" ValueRank="1"
		ArrayDimensions="0">
		<DisplayName>EnumStrings</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=18193
			</Reference>
		</References>
		<Value>
			<ListOfLocalizedText
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>OTHER</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>ARTICULATED_ROBOT</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>SCARA_ROBOT</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>CARTESIAN_ROBOT</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>SPHERICAL_ROBOT</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>PARALLEL_ROBOT</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>CYLINDRICAL_ROBOT</Text>
				</LocalizedText>
			</ListOfLocalizedText>
		</Value>
	</UAVariable>
	<UADataType NodeId="ns=1;i=3008"
		BrowseName="1:AxisMotionProfileEnumeration">
		<DisplayName>AxisMotionProfileEnumeration</DisplayName>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.3.3/#7.3.3.2
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=6027</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=29
			</Reference>
		</References>
		<Definition Name="1:AxisMotionProfileEnumeration">
			<Field Name="OTHER" Value="0">
				<Description>Any motion-profile which is not defined by the
					AxisMotionProfileEnumeration.</Description>
			</Field>
			<Field Name="ROTARY" Value="1">
				<Description>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.</Description>
			</Field>
			<Field Name="ROTARY_ENDLESS" Value="2">
				<Description>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.</Description>
			</Field>
			<Field Name="LINEAR" Value="3">
				<Description>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.</Description>
			</Field>
			<Field Name="LINEAR_ENDLESS" Value="4">
				<Description>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.</Description>
			</Field>
		</Definition>
	</UADataType>
	<UAVariable NodeId="ns=1;i=6027" BrowseName="EnumStrings"
		ParentNodeId="ns=1;i=3008" DataType="LocalizedText" ValueRank="1"
		ArrayDimensions="0">
		<DisplayName>EnumStrings</DisplayName>
		<References>
			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasModellingRule">i=78</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=3008
			</Reference>
		</References>
		<Value>
			<ListOfLocalizedText
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>OTHER</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>ROTARY</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>ROTARY_ENDLESS</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>LINEAR</Text>
				</LocalizedText>
				<LocalizedText>
					<Locale>
					</Locale>
					<Text>LINEAR_ENDLESS</Text>
				</LocalizedText>
			</ListOfLocalizedText>
		</Value>
	</UAVariable>
	<UADataType NodeId="ns=1;i=3006"
		BrowseName="1:OperationalModeEnumeration">
		<DisplayName>OperationalModeEnumeration</DisplayName>
		<Documentation>https://reference.opcfoundation.org/v104/Robotics/v100/docs/7.7.3/#7.7.3.4
		</Documentation>
		<References>
			<Reference ReferenceType="HasProperty">ns=1;i=6022</Reference>
			<Reference ReferenceType="HasSubtype" IsForward="false">i=29
			</Reference>
		</References>
		<Definition Name="1:OperationalModeEnumeration">
			<Field Name="OTHER" Value="0">
				<Description>Other for when there is a system-boot (unknown) or a
					failure of the safety, there is no valid operational mode.</Description>
			</Field>
			<Field Name="MANUAL_REDUCED_SPEED" Value="1">
				<Description>"Manual reduced speed" - name according to ISO
					10218-1:2011.</Description>
			</Field>
			<Field Name="MANUAL_HIGH_SPEED" Value="2">
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			<Reference ReferenceType="HasTypeDefinition">i=68</Reference>
			<Reference ReferenceType="HasProperty" IsForward="false">ns=1;i=6118
			</Reference>
		</References>
		<Value>
			<Boolean
				xmlns="http://opcfoundation.org/UA/2008/02/Types.xsd">true</Boolean>
		</Value>
	</UAVariable>
</UANodeSet>