OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug 2.0.0-preview.2

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.NET 8.0 This package targets .NET 8.0. The package is compatible with this framework or higher. .NET Standard 2.1 This package targets .NET Standard 2.1. The package is compatible with this framework or higher. .NET Framework 4.7.2 This package targets .NET Framework 4.7.2. The package is compatible with this framework or higher.
This is a prerelease version of OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug. 
dotnet add package OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug --version 2.0.0-preview.2
                    


                    

                
NuGet\Install-Package OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug -Version 2.0.0-preview.2
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package. 
<PackageReference Include="OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug" Version="2.0.0-preview.2" />
For projects that support PackageReference, copy this XML node into the project file to reference the package. 
<PackageVersion Include="OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug" Version="2.0.0-preview.2" />
                    


                            Directory.Packages.props
                        

                    

                
<PackageReference Include="OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug" />
                    


                            Project file
For projects that support Central Package Management (CPM), copy this XML node into the solution Directory.Packages.props file to version the package. 
paket add OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug --version 2.0.0-preview.2
                    


                    

                
#r "nuget: OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug, 2.0.0-preview.2"
#r directive can be used in F# Interactive and Polyglot Notebooks. Copy this into the interactive tool or source code of the script to reference the package. 
#:package OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug@2.0.0-preview.2
#:package directive can be used in C# file-based apps starting in .NET 10 preview 4. Copy this into a .cs file before any lines of code to reference the package. 
#addin nuget:?package=OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug&version=2.0.0-preview.2&prerelease
                    


                            Install as a Cake Addin
                        

                    

                
#tool nuget:?package=OPCFoundation.NetStandard.Opc.Ua.Robotics.Server.Debug&version=2.0.0-preview.2&prerelease
                    


                            Install as a Cake Tool

Opc.Ua.Robotics.Server

Server hosting for the OPC 40010 Robotics companion model.

The package uses source-generated model loaders and fluent accessors. It provides:

  • AddRoboticsTypeSystem — loads the OPC UA DI base model plus the IA and Robotics companion models (all source-generated) into a node manager's predefined-node collection, in dependency order.
  • RoboticsNodeManager and RoboticsNodeManagerFactory — a stock DI-based server manager with an application-owned instance namespace.
  • IRoboticsModelProvider — deterministic composition of additional compiled predefined models. Providers run in ascending Order; the built-in DI/IA/ Robotics provider uses int.MinValue so application providers run afterward by default. A replacement core provider must advertise both the IA and Robotics namespaces.
  • AddRobotics, AddRoboticsModel, ConfigureRobotics, and ConfigureRoboticsFor — Generic Host registration and ordered startup configuration APIs.
  • IRoboticsBuildContext and IRoboticsConfigurator — one shared fluent builder per manager startup, with narrow service resolution and simulation startup on sealing.
  • AddMotionDeviceSystemAsync — a progressive, validated topology builder for controllers, controller software, motion devices, axes, power trains, drives, safety state, and task controls. Source-generated factories assign per-instance NodeIds before the builder validates and recursively registers the completed generated state tree.
builder.ConfigureRobotics(async context =>
{
    await context.AddMotionDeviceSystemAsync("RobotCell", system =>
    {
        IMotionDeviceBuilder robot = system.AddMotionDevice("Robot", motion =>
            motion.WithMotionDeviceCategory(
                MotionDeviceCategoryEnumeration.ARTICULATED_ROBOT));
        IDriveBuilder drive = robot.AddDrive(
            "Drive",
            item => item.WithProductCode("DRIVE-1"));
        IPowerTrainBuilder train = robot.AddPowerTrain("PowerTrain");
        IAxisBuilder axis = robot.AddAxis(
            "Axis1",
            item => item.WithMotionProfile(AxisMotionProfileEnumeration.ROTARY)
                .WithActualPosition(0));
        train.AddMotor("Motor", motor => motor.IsDrivenBy(drive));
        axis.Requires(train);
        train.Moves(axis);

        ISafetyStateBuilder safety = system.AddSafetyState("Safety");
        IControllerBuilder controller = system.AddController("Controller");
        controller.AddSoftware("ControlSoftware", software =>
            software.WithIdentification(data =>
            {
                data.Manufacturer = new LocalizedText("Vendor");
                data.Model = new LocalizedText("Robot Runtime");
                data.SoftwareRevision = "1.0";
            }));
        ITaskControlBuilder taskControl = controller.AddTaskControl(
            "TaskControl",
            task => task.WithComponentName("Main task"));
        controller.Controls(robot).UsesSafetyState(safety);
        taskControl.Controls(robot);
    });
});

Each controller must contain at least one SoftwareType instance and one TaskControlType instance because both containers define mandatory placeholder children. The Controls and IsDrivenBy relationships are optional.

ITaskControlBuilder.Controls and IMotionDeviceBuilder.UsesTaskControl add the standard Controls relation. When a task control also has a TaskControlOperationType, the controlled motion device receives the matching TaskControlReference.

IGearBuilder.WithPitch accepts millimetres of linear travel per output-side revolution. Pitch is a BaseDataVariableType; the builder does not add EngineeringUnits.

Instantiate Robotics-typed objects with the generated ISystemContext.CreateInstanceOf<Type> factories (for example CreateInstanceOfMotionDeviceSystemType, CreateInstanceOfMotionDeviceType, CreateInstanceOfAxisType, CreateInstanceOfControllerType) so each instance carries the full companion-type structure rather than only a type-definition reference.

The default instance namespace is application-specific and can be changed with RoboticsServerOptions.InstanceNamespaceUri. It must be distinct from the OPC UA, DI, IA, Robotics, and all configured model-provider namespaces.

After a custom DiNodeManager has loaded the DI, IA, and Robotics models, call manager.CreateRoboticsBuildContext(options) for direct configuration outside the hosting pipeline. The helper validates the DeviceSet, Robotics model, and configured instance namespace before returning the context. Its Context.NodeIdFactory must implement IRoboticsNodeIdFactory; the allocator must be thread-safe, reserve unique NodeIds for unregistered nodes, and allocate Robotics instances in the configured instance namespace.

AddRobotics() owns the DI namespace and cannot be combined with AddOpcUaDi(). Other companion-manager hosting extensions that load DI should use the shared DiAddressSpaceOwnership marker to enforce the same rule.

Robot Intent (draft)

The package also hosts the draft OPC UA — Robot Intent model. Robot Intent adds task-level motion commands that OPC 40010 leaves undefined and represents each submitted command as a Part 10 program lifecycle, so motion that takes minutes outlives the Call that admitted it.

Use AddRobotIntent() to load the Robot Intent NodeSet and register the DI-hosted controller services, AddRobotIntentExecutor<TExecutor>() to provide the application executor, and ConfigureRobotIntent(...) to declare controllers with the fluent builder. The builder exposes frames, fitted tools, locations, axes, outputs, programs, safety state, kinematic description, real-time channels, and truthful capability declarations through Accepts<TIntent>(). For servers that want Robot Intent without OPC 40010 or DI, RobotIntentNodeManagerFactory and RobotIntentNodeManager provide the standalone NodeManager path.

Executors implement IIntentExecutor. The host owns admission, queueing, state transitions, cancellation admission, and outcomes; the executor owns the actual robot work and reports progress through IIntentProgress.

The namespace http://opcfoundation.org/UA/RobotIntent/ and every NodeId in it are provisional. The model is a working-group draft and is neither official nor endorsed by the OPC Foundation.

See the Robotics developer guide, the Robot Intent guide, and the Dependency Injection guide.

Product Compatible and additional computed target framework versions.
.NET net5.0 was computed.  net5.0-windows was computed.  net6.0 was computed.  net6.0-android was computed.  net6.0-ios was computed.  net6.0-maccatalyst was computed.  net6.0-macos was computed.  net6.0-tvos was computed.  net6.0-windows was computed.  net7.0 was computed.  net7.0-android was computed.  net7.0-ios was computed.  net7.0-maccatalyst was computed.  net7.0-macos was computed.  net7.0-tvos was computed.  net7.0-windows was computed.  net8.0 is compatible.  net8.0-android was computed.  net8.0-browser was computed.  net8.0-ios was computed.  net8.0-maccatalyst was computed.  net8.0-macos was computed.  net8.0-tvos was computed.  net8.0-windows was computed.  net9.0 is compatible.  net9.0-android was computed.  net9.0-browser was computed.  net9.0-ios was computed.  net9.0-maccatalyst was computed.  net9.0-macos was computed.  net9.0-tvos was computed.  net9.0-windows was computed.  net10.0 is compatible.  net10.0-android was computed.  net10.0-browser was computed.  net10.0-ios was computed.  net10.0-maccatalyst was computed.  net10.0-macos was computed.  net10.0-tvos was computed.  net10.0-windows was computed. 
.NET Core netcoreapp3.0 was computed.  netcoreapp3.1 was computed. 
.NET Standard netstandard2.1 is compatible. 
.NET Framework net472 is compatible.  net48 is compatible.  net481 was computed. 
MonoAndroid monoandroid was computed. 
MonoMac monomac was computed. 
MonoTouch monotouch was computed. 
Tizen tizen60 was computed. 
Xamarin.iOS xamarinios was computed. 
Xamarin.Mac xamarinmac was computed. 
Xamarin.TVOS xamarintvos was computed. 
Xamarin.WatchOS xamarinwatchos was computed. 
Compatible target framework(s)
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Version Downloads Last Updated
2.0.0-preview.2 46 8/24/2026

https://github.com/OPCFoundation/UA-.NETStandard/releases