UAMotionLinkLib

UAMotionLinkLib is a library that provides an external motion control interface for OMRON's NX/NJ controllers. It makes motion function blocks (motion FBs) available via a wrapper on the controller's or simulator's OPC UA server, allowing motion control through an OPC UA client. UAMotionLinkLib exposes motion FB operations as a pseudo-UA method, as demonstrated in PseudoUAMethodExample. It also includes a reference client (SingleMCController) and tests that use PwshOpcUaClient.

Currently, the exposed motion FBs are limited to basic positioning operations. Operations such as servo power control (MC_Power), controlled stop (MC_Stop), and immediate stop (MC_ImmediateStop) are not provided. Continuous, synchronized, or multi-axis coordinated motion is also not included. Users can easily extend the functionality. If any functions are missing, users can extend them at their own discretion.

UAMotionLink offers the following operations:

• MoveAbsolute
  Performs absolute positioning for the target axis. Parameters are the same as MC_MoveAbsolute.
• MoveRelative
  Performs relative positioning for the target axis. Parameters are the same as MC_MoveRelative.
• MoveZeroPosition
  Returns the target axis to its home position. Parameters are the same as MC_MoveZeroPosition.
• Home
  Defines the home position for the target axis. Parameters are the same as MC_Home.
• SetPosition
  Changes the current command position and feedback position of the target axis to an arbitrary value. Parameters are the same as MC_SetPosition.
• ResetAxisError
  Resets an error on the target axis. This is a wrapper for MC_Reset.
• SetAxisIndex
  Specifies the target axis by its index.
• AxisIndex
  Retrieves the index of the currently targeted axis.
• Axis
  Retrieves the _sAXIS_REF structure of the target axis.

The reference client provides the functionality to perform the operations listed above. While humans can use it without issue, it was developed with the primary purpose of being used by AI shells, chat AI, or AI agents, so it may be verbose. There are currently no plans to create an MCP server.

Operating Environment

The following are required to use the UAMotionLinkLib library:

Item	Requirement
Controller	NX1 (Ver. 1.64 or later), NX5 (Ver. 1.64 or later), NX7 (Ver. 1.35 or later), NJ5 (Ver. 1.63 or later)
Sysmac Studio	Ver. 1.62 or later

The following is required to use the SingleMCController reference client:

Item	Requirement
PowerShell	7.5 or later

Development Environment

UAMotionLinkLib and SingleMCController were built in the following environment:

Item	Version
Controller	NX102-9000 Ver. 1.64 HW Rev.A
Sysmac Studio	Ver. 1.63
PowerShell	7.5.2
Pester	5.7.1

Library Structure

UAMotionLinkLib consists of the following:

• UAMotionLinkLib.slr
  A library for Sysmac projects. It is used by referencing it in a project.

• UAMotionLinkLib.smc2
  A Sysmac project for UAMotionLinkLib development. It includes test programs for the reference client.

How to Use the Library

Follow these steps to use the library:

1. Reference UAMotionLinkLib.slr in your project.

2. Build the project and confirm there are no errors.
   This verifies that there are no identifier conflicts within the project.

3. Execute the BasicMCControllerModel FB (model FB) in an appropriate program POU.
   Because it contains motion FBs, the program POU must be executed in the primary task.

4. Expose the model FB in the OPC UA settings.
   Refer to the manufacturer's manual for instructions on exposing FB instances. Assign appropriate user roles to each method.

Reference Client Structure

The main components of the reference client are:

• BasicMCController.ps1
  The reference client itself.

• BasicMCController.Tests.ps1
  Tests for the reference client and model using Pester and UAMotionLinkLib.smc2.

• ModelTestController.ps1
  Operates the test program running in UAMotionLinkLib.smc2.

• SingleMCController.ps1
  Defines a derived class of BasicMCController, intended for use by an AI agent.

• SingleMCController.psm1
  The module for the reference client. This file must be imported to use the reference client.

• PwshOpcUaClient/
  This is the PwshOpcUaClient. For usage, refer to PwshOpcUaClient.

How to Use the Reference Client

The reference client is used for testing and demonstration. The general steps are:

1. Import SingleMCController.psm1.

2. Execute the code that uses the reference client.

Upon the first connection to an OPC UA server with security enabled, the connection may fail. This is because the OPC UA server rejects the client certificate from PwshOpcUaClient. If this occurs, you can allow the client certificate on the OPC UA server to prevent it from being rejected in the future.

Examples

Examples are located in the examples\ directory. For details, refer to each directory.

• ControlWithAIShell
  Uses AI Shell as an intermediary to control servos via a chat AI or to collaborate with one. You can control a servo via AI Shell as shown below.

  

License

Code using PwshOpcUaClient is licensed under GPLv2. All other code is licensed under the MIT License.