Docs · Spec · Robotics
Robotics
Robotics — articulated arms, motion systems, SCARA, gantries. Four enums (operational mode, motion category, axis profile, execution mode), no DTOs. Pulls DI and IA.
OPC UA companion specification for industrial robots — articulated arms (six-axis, four-axis), SCARA, gantry, delta, collaborative robots. Standardised by VDMA in cooperation with the OPC Foundation.
What's in the package
| Artefact | Count |
|---|---|
| Enums | 4 |
| DTOs | — |
| Codecs | — |
| Registrars | 1 (RoboticsRegistrar) |
Enum-only at the runtime level. The spec's runtime contribution is the auto-cast on the four enums; the rest of the integration goes through NodeIds and DI / IA codecs.
Loading
php
examples/robotics/load.php
use PhpOpcua\Client\ClientBuilder;
use PhpOpcua\Nodeset\Robotics\RoboticsRegistrar;
$client = ClientBuilder::create()
->loadGeneratedTypes(new RoboticsRegistrar()) // pulls DI, IA
->connect('opc.tcp://robot.local:4840');Direct dependencies
Notable enums
Case names below are quoted as they appear in
src/Robotics/Enums/ (SCREAMING_SNAKE).
OperationalModeEnumeration—OTHER(0),MANUAL_REDUCED_SPEED(1),MANUAL_HIGH_SPEED(2),AUTOMATIC(3),AUTOMATIC_EXTERNAL(4)MotionDeviceCategoryEnumeration—OTHER(0),ARTICULATED_ROBOT(1),SCARA_ROBOT(2),CARTESIAN_ROBOT(3),SPHERICAL_ROBOT(4),PARALLEL_ROBOT(5),CYLINDRICAL_ROBOT(6). The spec has noDELTA_ROBOTorGANTRY_ROBOTcase.AxisMotionProfileEnumeration—OTHER(0),ROTARY(1),ROTARY_ENDLESS(2),LINEAR(3),LINEAR_ENDLESS(4)ExecutionModeEnumeration—CYCLE(0),CONTINUOUS(1),STEP(2)
Loaded by
- CranesHoists — cranes reuse the motion model
Walkthrough
For a complete end-to-end Robotics example, see Recipes · Robotics walkthrough.
Last updated · 2026-05-25