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Connecting robots (OPC UA)

Industrial robots are connected through the controller's OPC UA server. Edge connects to that server as an OPC UA client (the OPCUA driver) and reads values. There is no separate driver for each robot manufacturer.

Verified on real equipment: not yet (0)

None of the controllers below has been verified against Edge on real site equipment. There are no customer installations yet either. Test in a test environment before connecting to a production robot.

Target controllers and manufacturer information​

All are connected as the controller's OPC UA server → the Edge OPCUA driver. The "Confirmed" column in the table below lists only what was confirmed in official manufacturer documents. Anything not confirmed in official documents is marked "to be confirmed".

SystemConnectionConfirmedSource
KUKA KR C4 / KR C5OPC UA server of KUKA.DeviceConnectorPer OPC Foundation certification data — preinstalled on KR C5, available on KR C4 with KSS/VSS 8.3 or later. Security policies None · Basic256Sha256 · Aes128-Sha256-RsaOaep, users Anonymous · UserName, Robotics companion specification 1.00. Default port not publicly documentedOPC Foundation certification
ABB OmniCore / IRC5The controller's OPC UA serverTo be confirmed—
FANUC R-30iB PlusThe controller's OPC UA Server (IIoT software option)Paid option. The required option (order code) is described differently across FANUC materials, so confirm with the manufacturer. Port · security policies not publicly documentedFANUC R-30iB Plus · FANUC Tech Transfer — OPC UA
Yaskawa YRC1000The controller's OPC UA Server (MotoPlus application)Paid software option — needs a MotoPlus app licence, no extra hardware. Implements the OPC UA Robotics companion specification information model. Configured with the Yaskawa OPCUA Config Editor. The list of supported controllers is not stated on that page. Port · security policies not publicly documentedYaskawa Motoman knowledge base
Default ports and security policies are mostly not published

Most manufacturers do not publish their default port and security policies. Once you know the IP and port, [Find endpoints] on the Edge connection screen shows the security modes, policies and user authentication the controller offers — see step 4 below.

For robots running on ROS 2, see ROS 2 instead of this document.

1. Install and enable the OPC UA server on the controller​

The controller's OPC UA server is usually a paid option, so it must be installed and turned on separately. Options confirmed in public documents are listed in the table above. Ask the robot manufacturer how to install and enable it. This document does not cover menus or procedures on the controller side.

2. Check the endpoint URL and port​

Get the IP and port of the controller's OPC UA server from the robot owner. The endpoint URL has this form:

opc.tcp://<IP>:<port>/<path>
  • Confirm the port with the robot owner. 4840 is only the OPC UA default port; the controller may use a different one.
  • Put <path> in the Server name field of the Edge screen. If there is no path, leave it empty.
  • You do not need to be given the security mode and policy. Press [Find endpoints] on the connection screen to see the endpoints the controller offers as a table, and fill them in with [Use] — see Endpoint lookup.

3. Use a read-only account​

Create a read-only account on the controller's OPC UA server and connect with it. The Edge OPCUA driver supports writes, so writes must be blocked at the account to keep tag writes from the Edge side (REST · Node-RED) from changing robot values.

4. Secure connection (Sign / SignAndEncrypt)​

A secure connection is recommended for robot controllers. A connection newly created from the robot card on the add-connection screen starts with security mode SignAndEncrypt. If you created it from the generic OPC UA screen, change the security mode.

  1. In the Security (channel encryption) group of the connection screen press [Find endpoints], press [Use] on the row of the controller endpoint you want, then save.
  2. On the first connect the controller's server certificate is refused and a notice appears. Compare the thumbprint with the controller certificate's thumbprint, then press [Trust this certificate]. The edge reconnects shortly.
  3. If the controller refuses the edge certificate («The server refused the secure channel…»), download that connection's edge certificate (.der) on the OPC UA server › Client connection certificates tab and add it to the controller's trust list. Follow the controller manufacturer's manual and work with the robot owner.

The screens and error texts are in OPC-UA — Secure connection. In an HA setup, trust is granted on each box separately.

5. Add the connection in Edge — with today's screen​

For now, add it with the existing OPC UA connection registration screen (/ui/connect/opcua). The fields are the same as in step 5 of Connecting a DCS, and the tag address is the NodeId the controller exposes. Detailed explanations are in these documents.