Change Driver Settings

To change the default settings for the driver, such as the certificates to use or the location of the variables to use, the DriverOPCUA.ini file needs to be updated. For Windows users, this file can be found at “C:\Users\{Username}\AppData\Local\RoboDK-Drivers”. By default, there are 4 nodes used by the driver.

1.The action command is used to send the action to complete for the robot.

2.The array command is used to send any supplementary information to the driver, such as joint positions.

3.The joint values node contains the current joint positions of the robot.

4.The action state is used to check the current state of the robot.

It is also possible to add more nodes to this file if required. The DriverOPCUA.ini file also includes general settings, such as using flat indexing and use service layer, to ensure compatibility between the driver and the controller.