RocketFarm OPC-UA Server and Client

I installed the URCap OPCUA and tried it as a client and as a server. Both works for simple tests. But I have a couple of questions:

Goal: Define target joint states and move arm.

  1. OPC-UA URCap as a server: I started the OPC-UA server on the tablet and used a client to read the joint states. How can I move it to new target joint states?

  2. OPC-UA URCap as a client: I started an OPC-UA server on my laptop and added the client on the UR tablet. Using a UR program I was able to move the robot (script) and incorporating the target joint values read by my client. Can I also achieve this remotely without an UR program?

Hi @n-f
The OPC UA URcap cannot control the robot directly. You’ll need a UR program to move the robot.
Depending on the actual configuration, you can use the server read or client read functions to get the requested position into local variables and pass them as parameters in movej, movel, etc. commands.