Application Manual

Key Value Database App

Managing Data in the Data Layer 01VRS

R911420423, Edition 01
Copyright

© Bosch Rexroth AG Bosch Rexroth AG© 2023

All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the
event of applications for industrial property rights.

Liability

The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed
characteristic unless expressly stipulated in the contract. All rights are reserved with respect to the content of this
documentation and the availability of the product.

DOK-XCORE*-KVD*****V01-AP01-EN-P

cbde50c722062e2e0a347e8813a85fec, 1, en_US
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Table of contents
1 About this documentation 5
2 Important directions on use 7
2.1 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.2 Areas of use and application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Unintended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Safety instructions 9
4 Introduction and overview 11
4.1 Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 Quick start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5 Configuration editors 13
5.1 Configuration via the ctrlX web interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.2 Configuration via WebDAV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6 General configuration 17
6.1 KVD database configuration (location). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.1.1 Swap the database to an external storage medium configured for
data exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.1.2 Swap database to external storage medium configured for memory
expansion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7 Configuring the nodes 19
7.1 Configure nodes [nodes.json]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
7.2 Nodes – configuration examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7.3 Explicit nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.4 Implicit nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.5 Volatile nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.6 Read-only nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
7.7 Node class. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7.8 Node data type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.9 Node element – "value". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.10 Node element – "unit". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.11 Node element – "displayName". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.12 Node element – "displayFormat". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.13 Node element – "description". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7.14 Node element – "descriptionUrl". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8 Configuring Data Layer model nodes 33
8.1 Model interpretation and limitations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.2 Uploading models. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.3 Configuring the model instance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.4 Configuring the read-only model node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.5 Referencing the model node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
9 Interaction with the Node-RED app 37
10 Troubleshooting 39
11 Related documentation 41
11.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
11.2 ctrlX AUTOMATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

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11.3 ctrlX WORKS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

11.4 ctrlX CORE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
11.5 ctrlX CORE Apps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
12 Service and support 46
13 Index 47

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1 About this documentation

Editions of this documentation
Edition Date Note
01 2023-07 First edition for Key Value Database app version KVD-
V-0120

About this documentation

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Intended use

2 Important directions on use

2.1 Intended use
2.1.1 Introduction
Rexroth products are developed and manufactured to the state-of-the-art.
The products are tested prior to delivery to ensure operational safety and relia-
bility.

Important directions on use

Personal injury and damage to property due to incorrect
WARNING
use of products!
The products may only be used as intended.
Failure to use the products as intended may cause situa-
tions resulting in property damage and personal injury.
Damages resulting from unintended use
NOTICE
Rexroth As the manufacturer does not assume any
warranty, liability or compensatory claims for damages
resulting from unintended use of the products. The user
alone shall bear the risks of an unintended use of the
products.
Before using Rexroth products, make sure that all the
prerequisites for an intended use of the products are
met:
− Personnel that in any way, shape or form uses
Rexroth products must first read and understand the
relevant safety instructions and be familiar with their
intended use
− Leave hardware products in their original state, i.e.,
do not make any structural modifications. It its not
permitted to decompile software products or alter
source codes
− Do not install damaged or defective products or com-
mission them
− It has to be ensured that the products have been
installed as described in the relevant documentation

2.1.2 Areas of use and application

Products of the ctrlX series are suitable for Motion/Logic applications.
Products of the ctrlX series may only be used with
NOTICE
the accessories, mounting parts, and other components
specified in this documentation. Components that are
not expressly mentioned must neither be attached nor
connected. The same applies to cables and lines.
Only to be operated with the hardware component con-
figurations and combinations expressly specified and
with the software and firmware specified in the corre-
sponding documentations and functional descriptions.
Products of the ctrlX series are suitable for single-axis as well as for multi-axis
drive and control tasks. Device types with different equipment and interfaces
are available for using the system in specific applications.

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Unintended use

Typical areas of application:

● Building automation
● IoT and Security Gateway or Device
● Handling & Robotic
Controls of the ctrlX CORE series may only be operated under the mounting
and installation conditions, in the position of normal use and under the
ambient conditions (temperature, degree of protection, humidity, EMC, etc.)
specified in the related documentations.

2.2 Unintended use

"Unintended use" refers to using the ctrlX products outside of the above-men-
tioned areas of application or under operating conditions and technical data
other than described and specified in the documentation.
ctrlX products must not be used if they are exposed to following conditions:
● Operating conditions that do not meet the specified ambient conditions.
Operation under water, under extreme temperature fluctuations or under
extreme maximum temperatures is prohibited
● Applications that have not been expressly authorized by Rexroth

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3 Safety instructions
The Safety instructions contained in the available application documentation
feature specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with ANSI Z535.6-2006).
The signal word is meant to draw the reader's attention to the safety instruc-
tion and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which precedes
the signal words DANGER, WARNING and CAUTION, is used to alert the reader
to personal injury hazards.
The Safety instructions in this documentation are designed as follows:

Safety instructions
In case of non-compliance with this safety instruction,
DANGER
death or serious injury will occur.
In case of non-compliance with this safety instruction,
WARNING
death or serious injury could occur.
In case of non-compliance with this safety instruction,
CAUTION
minor or moderate injury could occur.
In case of non-compliance with this safety instruction,
NOTICE
property damage could occur.

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Quick start

4 Introduction and overview

4.1 Basics
The Key Value Database app facilitates the configuration of user-defined persis-
tent nodes on the ctrlX Data Layer.
Functions:
● Configuring explicit nodes of any type.
● Programmatic creation of implicit dynamic variable nodes, by any Data Layer
client (create-on-write).

Introduction and overview

The functional scope of the Key Value Database app also includes reliable and
powerful data storage. Persistence is based on a key/value database (KVD).

Licensing
The following license is required to operate the Key Value Database:
Description Type identifier Part number
License to operate the SWL-XC*-KVD-KEYVALUE*DB**-NNNN R911418610
Key Value Database app

Further information
Documentation
● ⮫ ctrlX CORE - App basics
● ⮫ ctrlX CORE - License overview
Reference source
● ⮫ ctrlX App Store
Web links
● ⮫ ctrlX CORE - Community
● ⮫ ctrlX CORE - How to
● ⮫ ctrlX CORE - Forum

4.2 Quick start

1. Install the Key Value Database app on your ctrlX device.
2. Open the ctrlX-CORE web interface by logging in to the ctrlX device via a
web browser.
3. Open the Data Layer window via the page navigation: “Settings 🠂 Data
Layer”
4. Open the "kvd" node.
The node is created by installing the Key Value Database app in the Data
Layer and contains some child nodes as an application example.

Application
Configure explicit nodes or root nodes for implicit (dynamic) child nodes
(.../*, .../**) to be inserted into the Data Layer address space. The configura-
tion can be done by editing the configuration file "nodes.json", also see the
following web documentation:
⮫ Setup – Introduction
⮫ Structure of the setup file

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Quick start

Supported interaction with a Data Layer client

Interaction Description
Read value of a node Reading a node by calling the "read" method.
Method: "read" The argument of the method has to be the address of
the node to be read.
Write value of a node Create the node of the nodeClass "Variable" by calling
Method: "write" the "write" method.
The argument of the method has to be a variant con-
taining a value of any data type.
Create node by writing Create a previously non-existent implicit node as a
a value child node of an implicit root node, by initially writing
Method: "create-on- a value.
write" Creating the node can be done by writing any value
that creates an implicit node of the nodeClass "Vari-
able" with the specified data type.
The initial data type of the node is set and is retained.
Subsequent write access to the node value fails if the
data type of the written data does not match the data
type of the node.
Delete node Supported only for implicit nodes!
Method: "remove" Delete a node by calling the "remove" method.
The argument of the method has ot be the node
address.

Unsupported interactions
Interaction Description
Create node Creating a node by calling the "create" method is not
Method: "create" supported!
Use the "create-on-write" method to create a node, see
the "Supported interactions" section above.

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Configuration via the ctrlX web interface

5 Configuration editors
The Key Value Database app is either configured via access using WebDAV or in
the ctrlX web interface in the app settings in the “Manage app data” window,
see:
⮫ Configuration via the ctrlX web interface
⮫ Configuration via WebDAV
Warning
NOTICE
Please do not edit, delete or rename files within the
folder structure where the "db" directory is located.

Configuration editors
Resetting the KVD persistence
NOTICE
Reset the Key Value Database persistence by deleting the
"db" directory from the app configuration.
In this case, the app is restarted and all data is deleted
and reset to default values!

5.1 Configuration via the ctrlX web interface

The Key Value Database app is directly configured in the web interface in the
“Manage app data” window, see also:
⮫ Window – Manage app data

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Configuration via WebDAV

Double-click on one of the configuration files to open the app data editor and
select and save the configuration settings, as shown in the following example in
the “nodes.json” file.
Saved changes are applied immediately.

5.2 Configuration via WebDAV

As an alternative to configuration via the ctrlX web interface, the app can also
be configured remotely via a WebDAV client Key Value Database app.
The use of WinSCP is recommended by Rexroth, see: ⮫ https://winscp.net/

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Configuration via WebDAV

Example: Change the configuration via WinSCP

1. Start WinSCP and create a new session via “"New Site"”.
2. Select following settings:
● File protocol: “WebDAV”
● Encryption: “TLS/SSL Implicit encryption”
● Host name: [IP address of the ctrlX device]
● Username: [your username on the ctrlX device]
● Password: [your password on the ctrlX device]

Configuration editors
3. Click on “Login” to connect to the ctrlX device
4. If required, confirm the dialogs for selecting certificates
🡆 WinSCP now has access to the file system of the ctrlX device

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Configuration via WebDAV

5. Select the target directory: /solutions/webdav/appdata/kvd

Click in the remote session field and subsequently on [Ctrl + o] to
specify the destination path.

6. The available KVD configuration files are displayed.

7. Change the desired configuration and save the change.

🡆 The changes take effect immediately after saving.

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KVD database configuration (location)

6 General configuration
General configuration settings of the Key Value Database app are stored in the
“"settings.json"” configuration file. The file can be edited either via the ctrlX
web interface or via WebDAV access, see: ⮫ Configuration editors
The file contains the following entries that can be edited:
● "db"
Specifies the path of the underlying database. The app data directory
kvd/db is the default value.
Also refer to: ⮫ KVD database configuration (location)

General configuration
● "readOnly"
Sets the configured node values to read-only, which means that write opera-
tions are forbidden and fail. Default value is: false.
● "verbose"
Activates the detailed trace. Default value is: false.

6.1 KVD database configuration (location)

The location of the Key Value Database database can be configured in the
“"settings.json"” configuration file and is set to the ctrlX device internal
memory in the“kvd/db” directory by default.

Depending on the frequency of the database write cycles, it is recommended

to transfer the database to an external memory in order to avoid afflicting the
device-internal memory Key Value Database.
For this purpose, mounted external storage media can be used, which are con-
figured either for data exchange or as memory expansion on the ctrlX device.

6.1.1 Swap the database to an external storage medium configured for

data exchange
Important notes for use
● The Key Value Database database is unencrypted and can be read ctrlX
device-externally.
● The Key Value Database database can be transferred to another ctrlX device
on which a different Key Value Database app instance is running.
● The Key Value Database database can be backed up orb be modified/
replaced.

Example: Removable disk as memory extension / entry in “settings.json”

{
"db": "/media/mmcblk1p1/db",
...
}

6.1.2 Swap database to external storage medium configured for

memory expansion
Important notes for use
● The Key Value Database database is fully encrypted and completely useless
ctrlX device-externally.
● The Key Value Database database cannot be transferred to another ctrlX
device

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KVD database configuration (location)

● The Key Value Database database cannot be backed up or even be changed

or replaced.
● After unmounting (removing) the removable disk, the Key Value Database
database on this ctrlX device is lost.

Example: Removable disk as memory extension / entry in “settings.json”

{
"db": "$SNAP_COMMON/storage-extension/$SNAP_NAME/db",
...
}

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Configure nodes [nodes.json]

7 Configuring the nodes

Nodes that are to be persisted in the Data Layer have to be configured in the
“nodes.json” configuration file. The configuration can be done either via the
ctrlX web interface, or via remote connection (WebDAV), see:
⮫ Configuration via the ctrlX web interface
⮫ Configuration via WebDAV
The configuration file is stored in the app data of the Key Value Database app
and can be viewed and edited in the “Manage app data” window and can be
edited, see also:

Configuring the nodes

⮫ Window – Manage app data

The configuration supports explicit and implicit (dynamic) root nodes.

7.1 Configure nodes [nodes.json]

This section describes the elements of the configuration file “nodes.json”.

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Configure nodes [nodes.json]

Example: Configuration file “nodes.json” in delivery state after installing the

Key Value Database app

Node element description

Node element Description
"types" The list of types to be registered (nodeClass
Type).
"nodes" List of nodes to be filled.
Hierarchical structuring nodes and variable nodes
are supported, see "nodeClass" below.
"address" Contains the node address.
The following address types can be used to
specify an implicit node:
● Absolute path (leaf)
● Simple wildcard end address (/*)
● Duplicate wildcard end address (/**)
"type" For the data type of the node, see:
⮫ Node data type
"value" The initially selected node value, see:
⮫ Node element – "value"
"metadata" Metadata of the node.
Access restrictions for users:
To configure a read-only node branch or to restrict
access to the node, please use the ⮫ Security
functions of the ctrlX Data Layer
"nodeClass" Configuring the node class, see:
⮫ Node class

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Nodes – configuration examples

Node element Description

"volatile" Node function for configuring volatile nodes, see:
⮫ Volatile nodes
"write" Meta data for configuring the write access, see
also:
⮫ Read-only nodes
"mode" Mode of the node, for example "read-only" to con-
figure read-only nodes, see:
⮫ Read-only nodes

Configuring the nodes

"unit" Unit of measurement of the node value, see:
⮫ Node element – "unit"
"displayName" For the display name of the node, see:
⮫ Node element – "displayName"
"displayFormat" For the display format of the node, see:
⮫ Node element – "displayFormat"
"description" For the node description, see:
⮫ Node element – "description"
"descriptionUrl" For the description URL of the node, see:
⮫ Node element – "descriptionUrl"

7.2 Nodes – configuration examples

Nodes with minimal meta data

Numeric variable node (int32)

nodes: [
{
"address": "mycompany/europe/myplants/plant1/temperature1",
"type": "int32",
"metadata": {
"nodeClass": "Variable"
}
},
...
{
"address": "mycompany/europe/myplants/plant1/temperature2",
"type": "int32",
"nodeClass": "Variable"
},
...
]

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Nodes – configuration examples

Nodes with maximum meta data

Numeric variable node (int32)

nodes: [
{
"address": "mycompany/europe/myplants/plant1/temperature",
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"displayName": "This is a velocity variable node for binary experts.",
"displayFormat": "Bin",
"unit": "m/s",
"description": "This is a variable node with all metadata.",
"descriptionUrl": "https://www.boschrexroth.com/"
}
},
...
]

Flat buffer variable node (built-in type)

To configure a node of a "built-in" flat buffer type, set the type of the node to
the address of the relevant target type: "types/..."

Example
nodes: [
{
...
"type": "types/datalayer/server-settings",
"metadata": {
"nodeClass": "Variable",
}
},
...
]

Flat buffer variable node (custom type)

To create a customized flat buffer, configure a node of the "nodeClass":
"Type" and add it to the "types" section.
Set the address of the type to the address you want the instance nodes to
point to, in this example: "types/inertial-value"
Set the type to the name of the corresponding compiled flat buffers file
(*.bfbs).
Upload the *.bfbs file to the app data directory kvd/bfbs.

Example
nodes: [
{
"address": "types/inertial-value",
"type": "inertial-value.bfbs",
"metadata": {
"nodeClass": "Type",
}
},
...
]

A variable node of this type can be specified (value optional):

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Volatile nodes

Example
nodes: [
{
"address": "kvd/samples/variables/flatbuffers/inertial-value",
"type": "types/inertial-value",
"value": {
"x": 1,
"y": 2,
"z": 3
},
"metadata": {
"nodeClass": "Variable",
"description": "custom flatbuffers type: 'types/inertial-value'"

Configuring the nodes

}
},
...
]

7.3 Explicit nodes

An explicit node has an absolute address and cannot be deleted (regardless of
allowed operations by the nodeClass).

Example: Explicit node

nodes: [
{
"address": "mycompany/europe/myplants/plant1/temperature",
"type": "int32",
"metadata": {
"nodeClass": "Variable",
}
},
...
]

7.4 Implicit nodes

An implicit node can be created (create-on-write) and removed.

Implicit root nodes

An implicit root node defines the entry of an implicit branch that allows the
creation and deletion of child nodes only at the next hierarchy level (/*) or at all
levels (/**).

Example: Implicit root node/creation and deletion only possible on the next
hierarchy level
{
"address": "mycompany/europe/myplants/plant1/*",
},

Example: Implicit root node/creation and deletion only possible on all subordi-
nate hierarchy levels
{
"address": "mycompany/europe/myplants/plant1/**",
},

7.5 Volatile nodes

The configuration of volatile, non-permanent nodes can be realized by using the
following entries in the nodes.json configuration file:

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Read-only nodes

If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By setting the extension key "autosafe" in the meta data to "false".
● Method 2 (flat configuration scheme/only possible for explicit nodes)
By setting the node function "volatile" to "true".

1. Volatile node with: "metadata > extensions > autoSave > false"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/volatile_temperature",
"type": "int32",
"metadata": {
"nodeClass": "Variable",
"extensions": [
{
"key": "autoSave",
"value": "false"
}
]
}
},
...
]

2. Volatile node with: "volatile > true"

nodes: [
{
"address": "mycompany/europe/myplants/plant2/volatile_temperature",
"type": "int32",
"volatile": true,
},
...
]

7.6 Read-only nodes

The configuration of read-only nodes can be realized by the following entries in
the nodes.json configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By setting the node meta datum "operations": "write" to "false".
● Method 2 (flat configuration scheme)
By setting the node mode "mode" to "read-only".

1. Write protection: "metadata > operations > write > false"

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"operations": {
"write": false
},
"description": "This is a read-only variable node"
}
}
...
]

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Node class

2. Write protection: "mode > read-only"

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"mode": "read-only",
"metadata": {
"nodeClass": "Variable",
"description": "This is a read-only variable node"
}
}
...

Configuring the nodes

]

7.7 Node class

In the node element "nodeClass", the class of the node is configured (default
value:[Variable]).

Supported node classes

Hierarchical structuring nodes:
● nodeClass: Folder
● nodeClass: Collection
● nodeClass: Resource
Variable nodes:
● nodeClass: Variable

Configuring the node class

The node class can be configured by the following entries in the nodes.json
configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By labeling the node class in the node meta data, in the meta data "node-
Class".
● Method 2 (flat configuration scheme)
By labeling the node class in the first structure level via the node entry
"nodeClass".

1. Definition of the node class via: "metadata > nodeClass"

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"description": "This is a variable node"
}
}
...
]

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Node data type

2. Definition of the node class in the first level with: "nodeClass"

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"nodeClass": "Variable",
"metadata": {
"description": "This is a variable node"
}
}
...
]

Supported operations
Executable by any connected client, depending on the node class:
Operation nodeClass: nodeClass: nodeClass: nodeClass: nodeClass:
Variable Resource Collection Folder Type
Write X X X X
Read X X
Build X X
Delete X
Browse X X X X X

7.8 Node data type

In the node element "type", the data type of the node is configured (default
value:unknown).
Once the variable node is created with its configured data type, the written
data type has to match the configured data type, otherwise an error code is
returned to the client performing the write operation.

Scalar
Type Description
unknown Unknown data type (not initialized, empty, null)
bool8 bool (8 bit)
int8 signed int (8 bit)
uint8 unsigned int (8 bit)
int16 signed int (16 bit)
uint16 unsigned int (16 bit)
int32 signed int (32 bit)
uint32 unsigned int (32 bit)
int64 signed int (64 bit)
uint64 unsigned int (64 bit)
float, float32 float (32 bit)
double, float64 double (64 bit)
string string (UTF-8)
timestamp timestamp (FILETIME) 64 Bit 100ns since 1.1.1601
(UTC)
flatbuffers bytes as complex data type coded as flat buffer
raw raw bytes

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Node element – "unit"

Arrays
Type Description
arbool8 array of bool (8 bit)
arint8 array of signed int (8 bit)
aruint8 array of unsigned int (8 bit)
arint16 array of signed int (16 bit)
aruint16 array of unsigned int (16 bit)
arint32 array of signed int (32 bit)
aruint32 array of unsigned int (32 bit)

Configuring the nodes

arint64 array of signed int (64 bit)
aruint64 array of unsigned int (64 bit)
arfloat, arfloat32 array of float (32 bit)
ardouble, array of float (64 bit)
arfloat64
arstring array of string (UTF-8)
artimestamp array of timestamp (FILETIME) 64 bits 100 ns since
1.1.1601 (UTC)

7.9 Node element – "value"

Specifies the preset value of the node.
By default, any false value: (0, false, "")
Supported value types:
● string
● number
● integer
● boolean
● array
● object

Examples

Variable node of type numerical value

{
...
"Wert": "42",
}

A variable node of the type string value

{
...
"Wert": "42",
}

7.10 Node element – "unit"

The node element defines the unit of measurement of the node value, for
example m/s (meters per second).
By default, the unit of measurement of a node value is not preconfigured.
The unit of measurement can be configured by the following entries in the
nodes.json configuration file:
If you want to have the flattest possible node structure, use method 2.

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Node element – "displayName"

● Method 1 (standard configuration scheme)

By configuring the desired unit of measurement in the meta data of the node
via the "unit" entry.
● Method 2 (flat configuration scheme)
By configuring the unit of measurement not in the meta data, but in the first
structure level with the "unit" entry.

1. Configure the unit of measurement in the meta data: "metadata > unit"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"unit": "m/s",
}
}
...
]

2. Configure the unit of measurement text in the first level with “UNIT”
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"unit": "m/s",
"metadata": {
"nodeClass": "Variable",
}
}
...
]

7.11 Node element – "displayName"

The node element defines the displayed node name.
By default, the string address is preconfigured.
The display name can be configured by the following entries in the nodes.json
configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By configuring the display name in the meta data of the node, via the "dis-
playName" entry.
● Method 2 (flat configuration scheme)
By configuring the display name not in the meta data, but in the first struc-
ture level with the "displayName" entry.

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Node element – "displayFormat"

1. Configure the display name in the meta data: "metadata > displayName"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"unit": "m/s",
"displayName": "velocity axis1",
}
}
...

Configuring the nodes

]

2. Configure display name in first level with "displayName

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"unit": "m/s",
"displayName": "velocity axis1",
"metadata": {
"nodeClass": "Variable",
}
}
...
]

7.12 Node element – "displayFormat"

The node element defines the display format of the node.
By default, the setting Auto is preconfigured.
Supported display formats:
● Auto (automatic selection of the display format)
● Bin (binary)
● Oct (Octal)
● Dec (Decimal)
● Hex (Hexadecimal)
The display format can be configured by the following entries in the nodes.json
configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By configuring the display format in the metadata of the node, via the entry
"displayFormat".
● Method 2 (flat configuration scheme)
By configuring the display format not in the meta data, but in the first
structure level with the entry "displayFormat".

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Node element – "description"

1. Configure the display format in the meta data: "metadata > displayFormat"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"displayFormat": "Dez",
}
}
...
]

2. Configure the display name in the first level with "displayFormat"

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"displayFormat": "Dez",
"metadata": {
"nodeClass": "Variable",
}
}
...
]

7.13 Node element – "description"

The node element defines a description text for the node.
By default, no description text is preconfigured.
The description text can be configured by the following entries in the
nodes.json configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By configuring the description text in the meta data of the node, via the
"description" entry.
● Method 2 (flat configuration scheme)
By configuring the description text not in the meta data, but in the first
structure level with the "description" entry.

1. Configure the description text in the meta data: "metadata > description"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"unit": "m/s",
"displayName": "velocity axis1",
"description": "Velocity of axis1 in m/s",
}
}
...
]

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Node element – "descriptionUrl"

2. Configure the description text in first level with “description”

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"unit": "m/s",
"displayName": "velocity axis1",
"description": "Velocity of axis1 in m/s",
"metadata": {
"nodeClass": "Variable",
}
}

Configuring the nodes

...
]

7.14 Node element – "descriptionUrl"

The node element defines a description URL for the node.
By default, no description URL is preconfigured.
The description URL can be configured by the following entries in the
nodes.json configuration file:
If you want to have the flattest possible node structure, use method 2.

● Method 1 (standard configuration scheme)

By configuring the description URL in the meta data of the node, via the
"desctriptionUrl" entry.
● Method 2 (flat configuration scheme)
By configuring the description URL not in the meta data, but in the first
structure level with the "descriptionUrl" entry.

1. Configure the description text in the meta data: "metadata > descriptionUrl"
nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant2,
"type": "int32",
"value": 42,
"metadata": {
"nodeClass": "Variable",
"unit": "m/s",
"displayName": "velocity axis1",
"descriptionUrl": "https://www.boschrexroth.com/",
}
}
...
]

2. Configure the description text in first level with “descriptionUrl”

nodes: [
{
"address": "mycompany/europe/myplants/plant1/myconstant1,
"type": "int32",
"value": 42,
"unit": "m/s",
"displayName": "velocity axis1",
"descriptionUrl": "https://www.boschrexroth.com/",
"metadata": {
"nodeClass": "Variable",
}
}
...
]

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Node element – "descriptionUrl"

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Configuring the model instance

8 Configuring Data Layer model nodes

The Key Value Database app supports ctrlX Data Layer models in YAML format
(*.yaml), from which model node instances can be populated. The models have
to conform to the ctrlX Data Layer schema definition.
For further details please refer to the example models in the Data Layer direc-
tory: kvd/models

Model example

Configuring Data Layer model nodes

$schema: datalayer.v1.0.schema.json
name: snake
version: 0.0.1
elements:
weight:
description: The weight of the snake.
nodeClass: Variable
mode: read-write
value: 42
typeSchema:
type: int32
venomous:
description: The snake bite is venomous.
nodeClass: Variable
mode: read-write
value: true
typeSchema:
type: bool8

8.1 Model interpretation and limitations

● The Key Value Database app interprets the models without checking their
syntax against the schema definition for correctness.
● Unknown or not useful configurations are omitted (e.g. "itemsModel" of a
"collection", ...).

8.2 Uploading models

Upload your ctrlX Data Layer models (*.yaml) to the app data directory: kvd/
models

8.3 Configuring the model instance

1. Add the node instances to the node configuration file nodes.json.
2. Set the model of the node instance to the file name of your model, e.g.
animals.v1.0.yaml
3. Set the "nodeClass" of the meta data to "Resource".

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Referencing the model node

Example
{
"address": "samples/kvd/models/zoo/animals",
"model": "animals.v1.0.yaml",
"metadata": {
"nodeClass": "Resource",
"description": "This is a animals model instance node"
}
},
{
"address": "samples/kvd/models/wildlife/animals",
"model": "animals.v1.0.yaml",
"metadata": {
"nodeClass": "Resource",
"description": "This is a animals model instance node"
}
},
...

8.4 Configuring the read-only model node

Configure the value of a node to be read-only (e.g., for non-writable constant
values) by setting the node mode "mode" to read-only instead of read-
write.

Example
...
elements:
my_constant:
description: A constant value.
nodeClass: Variable
mode: read-only
value: 42
typeSchema:
type: int32
...

8.5 Referencing the model node

Recursive model hierarchies are supported by the Key Value Database app and
allow objects to be assembled using a class-oriented approach to configure a
more complex node tree.
1. Ensure that all applications are in the kvd/models directory.
2. Use the keyword $ref to insert nodes of a child model into a parent node,
see the following example.

Configuration example (main model and referenced child models)

Main model "animals.v1.0.yaml"

$schema: datalayer.v1.0.schema.json
name: animals
version: 0.0.1
elements:
count:
description: The number of animals.
nodeClass: Variable
mode: read-only
value: 42
typeSchema:
type: string
reptiles:
description: The reptiles.
$ref: reptiles.v1.0.yaml
...

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Referencing the model node

Child model "reptiles.v1.0.yaml" referenced from "animals.v1.0.yaml"

$schema: datalayer.v1.0.schema.json
name: reptiles
version: 0.0.1
elements:
snake:
description: The snake.
$ref: snake.v1.0.yaml
...

Configuring Data Layer model nodes

Child model "snake.v1.0.yaml" referenced from "reptiles.v1.0.yaml"
$schema: datalayer.v1.0.schema.json
name: snake
version: 0.0.1
elements:
weight:
description: The weight of the snake.
nodeClass: Variable
mode: read-write
value: 42
typeSchema:
type: int32
venomous:
description: The snake bite is venomous.
nodeClass: Variable
mode: read-write
value: true
typeSchema:
type: bool8
...

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Referencing the model node

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9 Interaction with the Node-RED app

The Key Value Database app enables the following interactions in interaction
with the Node-RED app:
● Read value of a node
Via a Data Layer request with the "READ" method.
For this purpose, the call path and the address of the node to be read have
to be transferred as arguments to the method.

Interaction with the Node-RED app

● Write the value of a node (Create-on-Write)
Via a Data Layer request with the "WRITE" method.
For this purpose, the argument has to contain an object with the properties
"type" and "value".
● Delete a node
Via a Data Layer request with the "DELETE" method.
The path has to transfer the address of the node to be removed as an
argument to the method.

Unsupported methods
The creation of new nodes with the method "CREATE" is not supported.

Arguments to execute the methods

Use a function node as input to specify the required arguments.

Example: Arguments for type/value/path

var payload = {
type: 'int32',
value: 42
}

msg.path = 'mycompany/europe/myplants/plant1/temperature';
msg.payload = payload;
return msg;

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10 Troubleshooting
If a configuration error occurs, the Key Value Database app does not start and
no KVD node is displayed in the ctrlX Data Layer structure. In this case, please
check the diagnostic system in the ctrlX web interface for error details (e.g.
schema validation failed, etc.).

Search the ctrlX diagnostic system for Key Value Database errors
Step 1: Enabling the system messages in the diagnostics
1. Open the ctrlX web interface and switch to the window: “Diagnostics
🠂 Logbook”

Troubleshooting
2. Click on the button to open the dialog “Settings”.
3. Enable the “Show system messages” option and save the setting.
Step 2: Filtering diagnostics according toKey Value Database errors
1. Click on to open the filter settings.
2. Activate the filter category:“Units”
3. In the right drop-down list, scroll down to entry “snap.rexroth-
kvd.kvd.service” and enable the filter option.
🡆 Due to the filter setting, only entries of the Key Value Database app are
displayed, which simplifies the error analysis.

Diagnostics during normal operation

With error-free operation of the Key Value Database app, the following diag-
nostic entry is displayed: “[kvd] running”

Diagnostics in case of errors

If an error occurs, update the diagnostic entries via the button to obtain
detailed error information.

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ctrlX WORKS

11 Related documentation
11.1 Overview

First Steps
1

ctrlX CORE ctrlX WORKS

Runtime Engineering

Related documentation
4 2
CORE ctrlX
WORKS

Runtime - Apps Engineering - Apps

5 6 3 3
PLC Motion PLC I/O
ENGINEERING ENGINEERING

7 8 9
OPC-UA OPC-UA EtherCAT
Server Client Master

10 11 12
VPN Remote
Firewall
Client Agent

13 14 15
Oscilloscope IDE Node-RED

16 17 18
3D Telegraf PROFINET
Viewer device

19 20 21
Container IoT
InfluxDB Dashboard
Engine

22 23
Python G-Code
Runtime Runtime
App App

Fig. 1: Overview on further documentations

11.2 ctrlX AUTOMATION

No. Documentation
1 ctrlX WORKS First Steps 01VRS
Quick Start Guide
⮫ Web documentation link
Ordering information:
● DOK-XWORKS-F*STEP**V01-QURS-EN-P
● R911403760

11.3 ctrlX WORKS

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ctrlX CORE Apps

No. Documentation
2 ctrlX WORKS Basic System 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XWORKS-********V01-APRS-EN-P
● R911403761
3 ctrlX PLC Engineering - PLC Programming System 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XPLC**-ENG*****V01-APRS-EN-P
● R911403764
3 ctrlX PLC Engineering - PLC Libraries 01VRS
Reference
⮫ Web documentation link
Ordering information:
● DOK-XPLC**-LIBRARY*V01-RERS-EN-P
● R911403766

11.4 ctrlX CORE

Nr. Dokumentation
4 ctrlX CORE - Runtime 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-BASE****V01-APRS-EN-P
● R911403768
ctrlX CORE - Nodes of the Data Layer 01VRS
Reference
⮫ Link zur Web-Dokumentation
Bestellinformationen:
● DOK-XCORE*-BASE*DL*V01-RERS-EN-P
● R911420072
ctrlX CORE - Diagnostics 01VRS
Reference
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-DIAG****V01-RERS-EN-P
● R911403770

11.5 ctrlX CORE Apps

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ctrlX CORE Apps

Nr. Dokumentation
5 PLC App - PLC Runtime Environment for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-PLC*****V01-APRS-EN-P
● R911403787
6 Motion App - Motion Runtime Environment for ctrlX CORE 01VRS
Application Manual

Related documentation
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-MOTION**V01-APRS-EN-P
● R911403791
7 OPC UA Server App - OPC UA Server for ctrlX CORE 01VRS
Application Manual
⮫ Link zur Web-Dokumentation
Ordering information:
● DOK-XCORE*-OPCSERV*V01-APRS-EN-P
● R911403778
8 OPC UA Client App - OPC UA Client for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-OPCCLIENV01-APRS-EN-P
● R911403781
9 EtherCAT Master App - EtherCAT Master for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-ETHERCATV01-APRS-EN-P
● R911403773
10 VPN Client App - Remote Support Software for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-VPN*****V01-APRS-EN-P
● R911403775
11 Firewall App - Security Functions for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-FIREWALLV01-APRS-EN-P
● R911403783

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ctrlX CORE Apps

Nr. Dokumentation
12 Remote Agent App - ctrlX Device Portal Connection for ctrlX Devices
01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-REMOTE**V01-APRS-EN-P
● R911403785
13 Oscilloscope App - Oscilloscope Function for ctrlX Devices 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-OSCI****V01-APRS-EN-P
● R911409806
14 IDE App - Integrated Development Environment 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-IDE*****V01-APRS-EN-P
● R911410625
15 Node RED App - Graphic Programming for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-NODERED*V01-APRS-EN-P
● R911403789
16 3D Viewer App - Browser-based 3D Kinematic Simulation for ctrlX
CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-3D*VIEW*V01-APRS-EN-P
● R911416124
17 Telegraf App - Server Agent for Collecting Data in the Data Layer
01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-TELEGRAFV01-APRS-EN-P
● R911416836
18 PROFINET Device App - PROFINET Device for ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-PROFINETV01-APRS-EN-P
● R911417857

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ctrlX CORE Apps

Nr. Dokumentation
19 Container Engine App - Use of Docker® Images on ctrlX CORE 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-DOCKER**V01-APRS-EN-P
● R911417855
20 InfluxDB App - Influx Database Connection for ctrlX CORE 01VRS
Application Manual

Related documentation
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-INFLUX**V01-APRS-EN-P
● R911418738
21 IoT Dashboard App - Data Visualization in Dynamic, Interactive Dash-
boards 01VRS
Application Manual
⮫ Web documentation link
Ordering information:
● DOK-XCORE*-GDB*****V01-APRS-EN-P
● R911420426
22 Python Runtime App - Python Runtime Environment for ctrlX CORE
01VRS
Application Manual
⮫ Link zur Web-Dokumentation
Ordering information:
● DOK-XCORE*-PYR*****V01-APRS-EN-P
● R911420430
23 G-Code Runtime App - G-Code Interpreter for ctrlX CORE 01VRS
Application Manual
⮫ Link zur Web-Dokumentation
Ordering information:
● DOK-XCORE*-GCO*****V01-APRS-EN-P
● R911420428

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12 Service and support

Our worldwide service network provides an optimized and efficient support.
Our experts provide you with advice and assistance. You can contact us 24/7.

Service Germany
Our technology-oriented Competence Center in Lohr, Germany, is responsible
for all your service-related queries for electric drive and controls.
Contact the Service Hotline and Service Helpdesk under:
Phone: +49 9352 40 5060
Fax: +49 9352 18 4941
Email: ⮫ [email protected]
Internet: ⮫ http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and training

can be found on our internet sites.

Service worldwide
Outside Germany, please contact your local service office first. For hotline
numbers, refer to the sales office addresses on the internet.

Preparing information
To be able to help you more quickly and efficiently, please have the following
information ready:
● Detailed description of malfunction and circumstances
● Type plate specifications of the affected products, in particular type codes
and serial numbers
● Your contact data (phone and fax number as well as your e-mail address)

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13 Index
C
Configure node
"value". . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Configure data type. . . . . . . . . . . . . . . . . . 26
Configure node class. . . . . . . . . . . . . . . . . 25
Description text of the node. . . . . . . . . . . . 30
Description URL of the node. . . . . . . . . . . 31
Display format of the node. . . . . . . . . . . . . 29
Displayed name of the node. . . . . . . . . . . . 28
Node unit. . . . . . . . . . . . . . . . . . . . . . . . . . 27
Configure nodes
"volatile". . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Explicit nodes. . . . . . . . . . . . . . . . . . . . . . . 23
General. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Implicit nodes. . . . . . . . . . . . . . . . . . . . . . . 23
Read-only nodes. . . . . . . . . . . . . . . . . . . . . 24
Volatile nodes. . . . . . . . . . . . . . . . . . . . . . . 23
Configure Nodes
Configuration examples. . . . . . . . . . . . . . . 21
ctrlX AUTOMATION
Related documentation. . . . . . . . . . . . . . . 41
D
Database
Configure storage location. . . . . . . . . . . . . 17
E
Editors
Configuration via the ctrlX web interface. . 13
Configuration via WebDAV. . . . . . . . . . . . . 14
H
Helpdesk. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Hotline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
I
Intended use
Areas of application. . . . . . . . . . . . . . . . . . . 7
Areas of use. . . . . . . . . . . . . . . . . . . . . . . . . 7
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . 7
K
Key Value Database
Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Quick start. . . . . . . . . . . . . . . . . . . . . . . . . 11
M
Methods for interaction with Node-RED. . . . . 37
S
Safety instructions. . . . . . . . . . . . . . . . . . . . . . 9
Service hotline. . . . . . . . . . . . . . . . . . . . . . . . 46
Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
U
Unintended use. . . . . . . . . . . . . . . . . . . . . . . . . 8
Consequences, disclaimer. . . . . . . . . . . . . . 7

R911420423, Edition 01 Bosch Rexroth AG

48 / 50 Key Value Database App

Bosch Rexroth AG R911420423, Edition 01

 Key Value Database App 49 / 50

R911420423, Edition 01 Bosch Rexroth AG

Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main
Germany
Tel. +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics

R911420423
R911420423