Preparation
RobotStudio 6.07.01
TwinCAT v3.1 4024.17
IRC5 OPC UA Server 1.01
TF6100-OPC-UA.4.3.44.0
1.Download Beckhoff TF6100
(1) Download link:
(2) After downloading and completing the installation, you will find the Sample Client in the "Start" menu bar.
2.Using the Sample Client for OPC UA Communication
Add a trust certificate on the ABB server side.
When DO1 is set on the OPC Client side, it is observed that DO1 in the ABB robot is also set.
3.Beckhoff serves as the client to communicate with ABB robots via OPC UA.
Example: Read-Write Process for a Single Node
- UA Connect runs once during connection establishment
- UA NamespaceGetIndex runs once when accessing the namespace
- The frequency of reading and writing is determined by the system
Example: For the Read-Write Process of a Single Node
What information is required when reading a variable from the UA namespace?
UA Connect
- IN: URL connection of the UA-Server, e.g., opc.tcp://localhost:4840
- IN: Connection endpoint (with/without security)
- OUT: Returns a connection handle
UA NamespaceGetIndex
- IN: Connection handle
- IN: Name of the namespace where the variable resides, e.g., PLC1
- OUT: Namespace index
UA NodeGetHandle
- IN: Connection handle
- IN: Namespace index
- IN: Identifier of the variable, e.g., MAIN.bBool (in TwinCAT)
- OUT: Node handle
With these handles and indices, you can then proceed to read or write the value of the desired variable using the appropriate OPC UA functions.
Example: read-write process of a single node
- How to obtain the namespace name and identifier for the read-write process of a single node? (Using UA-Expert screenshot)
- Namespace name: The location where the variable resides?
Identifier: What is the unique identifier for a variable?
Like my work? Consider a donation! 👇
