robotics.h File Reference

OPC UA for Robotics (OPC 40010-1) MotionDevice information model (PROTOCORE_ENABLE_ROBOTICS). More...

#include "protocore_config.h"

Go to the source code of this file.

Classes
struct	RoboticsAxis
	One axis' live monitoring values (OPC 40010-1 AxisType, common subset). More...
struct	RoboticsController
	The Controller identity + software (OPC 40010-1 ControllerType + SoftwareType). More...
struct	RoboticsSafetyState
	The SafetyState (OPC 40010-1 SafetyStateType, common subset). More...
struct	RoboticsMotionDevice
	One MotionDevice: identity + live motion state (OPC 40010-1 MotionDeviceType, common subset). More...
struct	RoboticsMotionDeviceSystem
	The whole MotionDeviceSystem the server exposes. Own it in your sketch and refresh its fields each loop from your robot I/O; the robotics resolvers read straight out of it (no copy). String fields may be null (served as an empty String). More...
struct	RoboticsNs
	Dispatch table. Addressed by offset, so the layout is asserted below. More...

Macros
#define	ROBOTICS_NS_URI   "http://opcfoundation.org/UA/Robotics/"
	The OPC UA for Robotics companion-spec namespace URI (OPC 40010-1).

Typedefs
typedef enum PROTO_ENUM_PACKED	RoboticsMotionDeviceCategory
	MotionDeviceCategory (OPC 40010-1 MotionDeviceCategoryEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.
typedef enum PROTO_ENUM_PACKED	RoboticsMotionProfile
	Axis MotionProfile (OPC 40010-1 AxisMotionProfileEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.
typedef enum PROTO_ENUM_PACKED	RoboticsOperationalMode
	SafetyState OperationalMode (OPC 40010-1 OperationalModeEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

Enumerations
enum	PROTO_ENUM_PACKED {   ROBOTICS_CAT_OTHER = 0 , ROBOTICS_CAT_ARTICULATED_ROBOT = 1 , ROBOTICS_CAT_SCARA_ROBOT = 2 , ROBOTICS_CAT_CARTESIAN_ROBOT = 3 ,   ROBOTICS_CAT_SPHERICAL_ROBOT = 4 , ROBOTICS_CAT_PARALLEL_ROBOT = 5 , ROBOTICS_CAT_CYLINDRICAL_ROBOT = 6 , ROBOTICS_PROFILE_OTHER = 0 ,   ROBOTICS_PROFILE_ROTARY = 1 , ROBOTICS_PROFILE_ROTARY_ENDLESS = 2 , ROBOTICS_PROFILE_LINEAR = 3 , ROBOTICS_PROFILE_LINEAR_ENDLESS = 4 ,   ROBOTICS_MODE_OTHER = 0 , ROBOTICS_MODE_MANUAL_REDUCED_SPEED = 1 , ROBOTICS_MODE_MANUAL_HIGH_SPEED = 2 , ROBOTICS_MODE_AUTOMATIC = 3 ,   ROBOTICS_MODE_AUTOMATIC_EXTERNAL = 4 }
	MotionDeviceCategory (OPC 40010-1 MotionDeviceCategoryEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration. More...
enum	PROTO_ENUM_PACKED {   ROBOTICS_CAT_OTHER = 0 , ROBOTICS_CAT_ARTICULATED_ROBOT = 1 , ROBOTICS_CAT_SCARA_ROBOT = 2 , ROBOTICS_CAT_CARTESIAN_ROBOT = 3 ,   ROBOTICS_CAT_SPHERICAL_ROBOT = 4 , ROBOTICS_CAT_PARALLEL_ROBOT = 5 , ROBOTICS_CAT_CYLINDRICAL_ROBOT = 6 , ROBOTICS_PROFILE_OTHER = 0 ,   ROBOTICS_PROFILE_ROTARY = 1 , ROBOTICS_PROFILE_ROTARY_ENDLESS = 2 , ROBOTICS_PROFILE_LINEAR = 3 , ROBOTICS_PROFILE_LINEAR_ENDLESS = 4 ,   ROBOTICS_MODE_OTHER = 0 , ROBOTICS_MODE_MANUAL_REDUCED_SPEED = 1 , ROBOTICS_MODE_MANUAL_HIGH_SPEED = 2 , ROBOTICS_MODE_AUTOMATIC = 3 ,   ROBOTICS_MODE_AUTOMATIC_EXTERNAL = 4 }
	Axis MotionProfile (OPC 40010-1 AxisMotionProfileEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration. More...
enum	PROTO_ENUM_PACKED {   ROBOTICS_CAT_OTHER = 0 , ROBOTICS_CAT_ARTICULATED_ROBOT = 1 , ROBOTICS_CAT_SCARA_ROBOT = 2 , ROBOTICS_CAT_CARTESIAN_ROBOT = 3 ,   ROBOTICS_CAT_SPHERICAL_ROBOT = 4 , ROBOTICS_CAT_PARALLEL_ROBOT = 5 , ROBOTICS_CAT_CYLINDRICAL_ROBOT = 6 , ROBOTICS_PROFILE_OTHER = 0 ,   ROBOTICS_PROFILE_ROTARY = 1 , ROBOTICS_PROFILE_ROTARY_ENDLESS = 2 , ROBOTICS_PROFILE_LINEAR = 3 , ROBOTICS_PROFILE_LINEAR_ENDLESS = 4 ,   ROBOTICS_MODE_OTHER = 0 , ROBOTICS_MODE_MANUAL_REDUCED_SPEED = 1 , ROBOTICS_MODE_MANUAL_HIGH_SPEED = 2 , ROBOTICS_MODE_AUTOMATIC = 3 ,   ROBOTICS_MODE_AUTOMATIC_EXTERNAL = 4 }
	SafetyState OperationalMode (OPC 40010-1 OperationalModeEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration. More...

Functions
	PROTOCORE_NS_LAYOUT (RoboticsNs, bind, install)
void	protocore_robotics_bind (uint8_t *work, const RoboticsMotionDeviceSystem *mds)
	Bind the MotionDeviceSystem the resolvers serve. mds must outlive .
void	protocore_robotics_install (uint8_t *work, const RoboticsMotionDeviceSystem *mds)
	Convenience: bind mds and register both resolvers on the OPC UA .
uint8_t *	protocore_robotics_span (void)
	The PROTOCORE_ROBOTICS_BORROW bytes this module's state lives in.

Variables
PROTOCORE_NS RoboticsNs Robotics	PROTOCORE_UNUSED
	Module namespace.

Detailed Description

OPC UA for Robotics (OPC 40010-1) MotionDevice information model (PROTOCORE_ENABLE_ROBOTICS).

OPC 40010-1 "OPC UA for Robotics - Part 1: Vertical Integration" (VDMA / OPC Foundation, namespace http://opcfoundation.org/UA/Robotics/) standardizes how an industrial robot / motion device exposes its identity and live motion state so any OPC UA client (UaExpert, python asyncua, open62541, ...) reads the same MotionDeviceSystem structure across vendors.

This module builds the MotionDeviceSystem address space on top of the OPC UA Binary server (services/opcua, PROTOCORE_ENABLE_OPCUA): it registers a Browse + Read resolver that answers for the MotionDeviceSystem node hierarchy and serves live values out of a caller-owned RoboticsMotionDeviceSystem struct you refresh in your loop. Same pattern as services/umati (OPC 40501-1); no heap, no stdlib - the model is a fixed node table, the values are pointers/scalars in your struct.

Model exposed (BrowseNames per OPC 40010-1), under the Objects folder:

MotionDeviceSystem MotionDevices (Folder) MotionDevice Manufacturer, Model, ProductCode, SerialNumber, MotionDeviceCategory ParameterSet OnPath, InControl, SpeedOverride Axes (Folder) Axis_1..N ActualPosition, ActualSpeed, ActualAcceleration, MotionProfile Controllers (Folder) Controller Manufacturer, Model, ProductCode, SerialNumber Software Manufacturer, Model, SoftwareRevision SafetyStates (Folder) SafetyState ParameterSet OperationalMode, EmergencyStop, ProtectiveStop

The model is read-only (a monitoring model - the robot reports, the client observes). Scope note: one MotionDevice / Controller / SafetyState and PROTOCORE_ROBOTICS_AXES parametric axes are exposed (the common embedded robot); the values carry faithful BrowseNames, but the companion-spec TypeDefinitions, PowerTrains, and the NamespaceArray entry for the Robotics URI (which needs array-Variant support in the base server) are a documented follow-on - a generic OPC UA client still browses the structure and reads every value by BrowseName today.

work is PROTOCORE_ROBOTICS_BORROW bytes the CALLER took, at an address it knows. It is not held past the call, so nothing here aliases it. How those bytes are carved is this module's and is never named here.

Author

Douglas Quigg (dstroy0)

Date

2026

Definition in file robotics.h.

Macro Definition Documentation

ROBOTICS_NS_URI

#define ROBOTICS_NS_URI   "http://opcfoundation.org/UA/Robotics/"

The OPC UA for Robotics companion-spec namespace URI (OPC 40010-1).

Definition at line 57 of file robotics.h.

Typedef Documentation

RoboticsMotionDeviceCategory

typedef enum PROTO_ENUM_PACKED RoboticsMotionDeviceCategory

MotionDeviceCategory (OPC 40010-1 MotionDeviceCategoryEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

RoboticsMotionProfile

typedef enum PROTO_ENUM_PACKED RoboticsMotionProfile

Axis MotionProfile (OPC 40010-1 AxisMotionProfileEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

RoboticsOperationalMode

typedef enum PROTO_ENUM_PACKED RoboticsOperationalMode

SafetyState OperationalMode (OPC 40010-1 OperationalModeEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

Enumeration Type Documentation

PROTO_ENUM_PACKED [1/3]

enum PROTO_ENUM_PACKED

MotionDeviceCategory (OPC 40010-1 MotionDeviceCategoryEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

Enumerator
ROBOTICS_CAT_OTHER	a category outside the ones below.
ROBOTICS_CAT_ARTICULATED_ROBOT	articulated (jointed-arm) robot.
ROBOTICS_CAT_SCARA_ROBOT	SCARA robot.
ROBOTICS_CAT_CARTESIAN_ROBOT	cartesian / gantry robot.
ROBOTICS_CAT_SPHERICAL_ROBOT	spherical / polar robot.
ROBOTICS_CAT_PARALLEL_ROBOT	parallel (delta) robot.
ROBOTICS_CAT_CYLINDRICAL_ROBOT	cylindrical robot.
ROBOTICS_PROFILE_OTHER	a profile outside the ones below.
ROBOTICS_PROFILE_ROTARY	rotary axis (bounded travel).
ROBOTICS_PROFILE_ROTARY_ENDLESS	rotary axis with endless rotation.
ROBOTICS_PROFILE_LINEAR	linear axis (bounded travel).
ROBOTICS_PROFILE_LINEAR_ENDLESS	linear axis with endless travel.
ROBOTICS_MODE_OTHER	a mode outside the ones below.
ROBOTICS_MODE_MANUAL_REDUCED_SPEED	manual jog, reduced speed (T1).
ROBOTICS_MODE_MANUAL_HIGH_SPEED	manual, high speed (T2).
ROBOTICS_MODE_AUTOMATIC	automatic program execution.
ROBOTICS_MODE_AUTOMATIC_EXTERNAL	automatic, externally commanded.

Definition at line 63 of file robotics.h.

PROTO_ENUM_PACKED [2/3]

enum PROTO_ENUM_PACKED

Axis MotionProfile (OPC 40010-1 AxisMotionProfileEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

Enumerator
ROBOTICS_CAT_OTHER	a category outside the ones below.
ROBOTICS_CAT_ARTICULATED_ROBOT	articulated (jointed-arm) robot.
ROBOTICS_CAT_SCARA_ROBOT	SCARA robot.
ROBOTICS_CAT_CARTESIAN_ROBOT	cartesian / gantry robot.
ROBOTICS_CAT_SPHERICAL_ROBOT	spherical / polar robot.
ROBOTICS_CAT_PARALLEL_ROBOT	parallel (delta) robot.
ROBOTICS_CAT_CYLINDRICAL_ROBOT	cylindrical robot.
ROBOTICS_PROFILE_OTHER	a profile outside the ones below.
ROBOTICS_PROFILE_ROTARY	rotary axis (bounded travel).
ROBOTICS_PROFILE_ROTARY_ENDLESS	rotary axis with endless rotation.
ROBOTICS_PROFILE_LINEAR	linear axis (bounded travel).
ROBOTICS_PROFILE_LINEAR_ENDLESS	linear axis with endless travel.
ROBOTICS_MODE_OTHER	a mode outside the ones below.
ROBOTICS_MODE_MANUAL_REDUCED_SPEED	manual jog, reduced speed (T1).
ROBOTICS_MODE_MANUAL_HIGH_SPEED	manual, high speed (T2).
ROBOTICS_MODE_AUTOMATIC	automatic program execution.
ROBOTICS_MODE_AUTOMATIC_EXTERNAL	automatic, externally commanded.

Definition at line 78 of file robotics.h.

PROTO_ENUM_PACKED [3/3]

enum PROTO_ENUM_PACKED

SafetyState OperationalMode (OPC 40010-1 OperationalModeEnumeration). Exposed as Int32; the numeric values follow the companion-spec enumeration.

Enumerator
ROBOTICS_CAT_OTHER	a category outside the ones below.
ROBOTICS_CAT_ARTICULATED_ROBOT	articulated (jointed-arm) robot.
ROBOTICS_CAT_SCARA_ROBOT	SCARA robot.
ROBOTICS_CAT_CARTESIAN_ROBOT	cartesian / gantry robot.
ROBOTICS_CAT_SPHERICAL_ROBOT	spherical / polar robot.
ROBOTICS_CAT_PARALLEL_ROBOT	parallel (delta) robot.
ROBOTICS_CAT_CYLINDRICAL_ROBOT	cylindrical robot.
ROBOTICS_PROFILE_OTHER	a profile outside the ones below.
ROBOTICS_PROFILE_ROTARY	rotary axis (bounded travel).
ROBOTICS_PROFILE_ROTARY_ENDLESS	rotary axis with endless rotation.
ROBOTICS_PROFILE_LINEAR	linear axis (bounded travel).
ROBOTICS_PROFILE_LINEAR_ENDLESS	linear axis with endless travel.
ROBOTICS_MODE_OTHER	a mode outside the ones below.
ROBOTICS_MODE_MANUAL_REDUCED_SPEED	manual jog, reduced speed (T1).
ROBOTICS_MODE_MANUAL_HIGH_SPEED	manual, high speed (T2).
ROBOTICS_MODE_AUTOMATIC	automatic program execution.
ROBOTICS_MODE_AUTOMATIC_EXTERNAL	automatic, externally commanded.

Definition at line 91 of file robotics.h.

Function Documentation

PROTOCORE_NS_LAYOUT()

PROTOCORE_NS_LAYOUT	(	RoboticsNs	,
		bind	,
		install
	)

protocore_robotics_bind()

void protocore_robotics_bind	(	uint8_t *	work,
		const RoboticsMotionDeviceSystem *	mds
	)

Bind the MotionDeviceSystem the resolvers serve. mds must outlive .

Parameters

work	PROTOCORE_ROBOTICS_BORROW bytes the caller took. Not held past the call.
mds	Mds

protocore_robotics_install()

void protocore_robotics_install	(	uint8_t *	work,
		const RoboticsMotionDeviceSystem *	mds
	)

Convenience: bind mds and register both resolvers on the OPC UA .

Parameters

work	PROTOCORE_ROBOTICS_BORROW bytes the caller took. Not held past the call.
mds	Mds

protocore_robotics_span()

uint8_t * protocore_robotics_span

(

void

)

The PROTOCORE_ROBOTICS_BORROW bytes this module's state lives in.

Stated beside the namespace rather than on it: an entry takes a borrow, and this is where that borrow comes from. Taken once from the end of the pool, which no mark and no release walks, so the state lasts the life of the program.

Returns

the span.

Variable Documentation

PROTOCORE_UNUSED

PROTOCORE_NS RoboticsNs Robotics PROTOCORE_UNUSED

Initial value:

= {.bind = protocore_robotics_bind,
                                                     .install = protocore_robotics_install}

Module namespace.

Definition at line 190 of file robotics.h.