I am not the expert for this solution but I can give you some basically informations : - You need your local beckhoff runtime with installed TF6100 OPC UA package - You need the SRS with a running Emulator for your Robot and activated OPC UA license In emulator mode, the SRS mapps the EtherCat I/Os to the Stäubli OPC UA Server and the simulation peripheral connects to this Stäubli OPC UA server as a OPC UA Clinet . To get the connection to the Stäubli OPC UA server to work, you have to create a certificate - for which stäubli provides a SSL generator. For more details , you can take a look In the documentation of our simulation peripheral, there the necessary steps are described...
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