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Papyrus/customizations/manufacturing/opcua/csRobotics
Papyrus profile for OPC UA Companion Specification for Robotics
The SysML language is not sufficient to encompass all the concepts covered by OPC UA information models, particularly domain specific Companion Specifications. Each Companion Specification defines a very specific meta-model addressing a specific domain.
In papyrus, we implement an UML profiles to implement the vocabulary the OPC UA Companion Specification for Robotics ( for more detail about the CS for robotics see Papyrus/customizations/manufacturing/opcua/getstarted).
To implement the UML profile for CS-Robotics, we created a profile by CS while keeping the same structure proposed by the foundation. The UML profile for Robotics CS depends on the UML profile for Devices CS (DI), which in turn depends on the UML profile for the base OPC UA information model. The latter extends the UML metamodel. The Figure below shows the dependencies between the three profiles.
Dependencies between UML profiles for OPC UA
The UML profile for CS-Robotics is depicted in the Figure below.
UML profile for OPC UA CS-Robotics