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A configuration tool for MQTT based OPC UA PubSub

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DOI: 10.1109/RIVF48685.2020.9140792

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 A configuration tool for MQTT based OPC UA
PubSub

Zepeng Liu Patrick Bellot

LTCI, Télécom Paris LTCI, Télécom Paris

Institut Polytechnique de Paris, France Institut Polytechnique de Paris, France
Email: zeliu@telecom-paris.fr Email: bellot@telecom-paris.fr

Abstract—Contemporary manufacturing enterprises are chal-

lenged by fast-growing requirements for flexible and effective pro-
duction, and also rapidly changing demands of market. One goal
of industrial system information integration is to use appropriate
flexible and scalable communication technologies to satisfy the
requirements of industrial devices and systems. To achieve these
requirements, technologies and paradigms such as the Internet
of Things (IoT), Reconfigurable Manufacturing System (RMS)
and Industrie 4.0, etc., are proposed and developed in recent
years. Among these solutions, Open Platform Communication
Unified Architecture (OPC UA) is one of the most widely used
specifications for industrial system and device communication.
Now the specification is extended by adding a new communication
architecture named PubSub to provide asynchronous information
exchange capability. After a brief review of industrial Information
Figure 1: Automation Pyramid
and Communication Technologies (ICTs) and existing solutions
for the manufacturing system, an MQTT based OPC UA PubSub
implementation and its configuration tool are introduced in this (Europe) and “Made in China” (China) were introduced within
paper. Our OPC UA PubSub implementation can be easily such context [3].
integrated into other C/C++ OPC UA projects.
Manufacturing companies require automation systems to
Keywords–IoT, OPC UA, MQTT have capabilities to rapidly react to unpredictable market
changes, customization demands and also unforeseen events
I. I NTRODUCTION from supply chain to production line. To respond to these
Tremendous advances of ICTs have been adopted in man- requirements, advanced manufacturing systems and methods
ufacturing domains and thus drives the manufacturing en- such as Reconfigurable Manufacturing System (RMS), intel-
terprises able to continuously improve productivity and gain ligent manufacturing, flexible manufacturing, online manufac-
more market share. The numerical progress of manufacturing turing, agile manufacturing, etc., were proposed and researched
systems and devices have experienced different stages. Start [4] [5]. However, appropriate technologies are lacking for in-
from the 1970s, Computer Integrated Manufacturing (CIM), formation exchange among reconfigured industrial devices and
Product Data Management (PDM), Product Life-cycle Man- systems. For example, traditional supervision and condition
agement (PLM) were introduced for engineering process and monitoring technologies are often fixed, consequently, they
production management [1]. At the same time, researchers cannot satisfy the requirements of dynamic reconfiguration in
and engineers proposed also manufacturing systems such as the modern manufacturing environment [6].
single-station automated cells, automated assembly system,
The modern enterprises’ manufacturing modes feature high
flexible manufacturing system, etc [2]. Till the 1990s, En-
personalization, shortened product life-cycles, less cost, and
terprise Resource Planning (ERP), Manufacturing Execution
require reliable communication capability among devices and
System (MES), Supervisory Control And Data Acquisition
systems from the field level to the company level. As an
(SCADA), Programmable Logic Controller (PLC), etc., were
essential capability of future industrial automation in the fourth
emerged as typical functional modules and integrated into
industrial revolution, the interoperability emphasized by Ger-
the ISA95 automation pyramid, showed as Figure. 1. The
many initiative Industrie 4.0 will enable industrial equipment
increasing global competition and market pressure drive the
to understand, process, and share information from/with other
manufacturing domain to adopt emerging and competitive
equipment of different equipment manufacturers. As the only
technologies. Initiatives such as the Industrie 4.0 (Germany),
recommended standard for the communication layer of the
“Industrial Internet Consortium” (US), “Factories of Future”
Reference Architecture Model for Industrie 4.0 (RAMI4.0)
This work is part of the project WIZARD, a FEDER-FSE, Operational [7], OPC UA fulfills the communication requirements of
Program of CORSE, project. Industrie 4.0 by providing horizontal and vertical information

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integration in the industrial environment [8]. In addition to the
Client/Server Model of OPC UA, the specification of OPC UA
Part 14 [9] introduced a new communication pattern namely
PubSub to enhance the communication capability.
Following the OPC UA PubSub specification part 14,
which introduced PubSub logical components, necessary com-
munication parameters and configuration procedure for OPC
UA Publisher and OPC UA Subscriber. In this paper, we
introduce our MQTT based PubSub implementation kit, be-
sides, we propose an OPC UA PubSub configuration tool for
configuring the parameters defined in the specification. The
source codes are avaliable in [29]. The PubSub implementation
kit is built on an access right provided OPC UA server, which
means the Node attributes of the OPC UA AddressSpace are
available. The MQTT based PubSub implementation kit was
named as such because it can be easily integrated into other
C/C++ implementation of OPC UA. The configuration tool is Figure 2: AMS, MES and SEE of SkillPro
a graphic user interface program that is able to connect to our
OPC UA PubSub implementation kit and to configure it. B. SkillPro Project
This paper will be structured as follow. Section II intro- The major bottleneck of discrete manufacturing companies
duces manufacturing system related researches. Section III is new product often requires considerable downtime for
introduces the OPC UA interoperability and communication manual integration work. The SkillPro project [12] developed
capability. Our proposals, the MQTT based PubSub implemen- a unified abstraction to describe capabilities provided by either
tation kit, and the configuration tool will be given in section standalone or group of different cyber-physical assets in pro-
IV. Section V concludes this paper and indicates our future duction system, and manufacturing steps for specific product
research direction. as “Skill”. Thus a holistic service-oriented framework can be
employed to modelling an orchestration of production systems.
By using technologies such as OPC UA, Plug&Produce,
II. R ELATED WORK
AutomationML and Skills, SkillPro projects provide vertical
A. Reconfigurable Manufacturing System information integration from field level to MES level. The
To accommodate requirements such as shorter product SkillPro project consists of three fundamental element types:
life cycles, massive individualized products, lower production AMS (Asset Management System), MES (Manufacturing Ex-
costs, and thus better environmental performance, RMS was ecution System) and SEE (Skill Execution Engines). Order
proposed by Dr. Koren in 1995 [4]. RMS is a reconfigurable management, product life-cycle and long or mid-term planning
structure (hardware and software) of factory to rapidly and is handled by the AMS, MES is responsible for short-term
economically respond markets and customers’ needs, thus the scheduling of skill execution orchestration. SEE represents
factory featured sustainable competitiveness can continuously components of field level who execute production tasks. The
supply competitive products to market. Compare with DML architecture is showed in Figure.2. The project results lead to
(Dedicated Manufacturing System) and FML (Flexible Man- a work group in the OPC UA consortium, and a companion
ufacturing System), RMS functionality and capacity can be standard AutomationML was released in 2016 [13].
changed rapidly and cost-effectively, a comparison of the three
manufacturing system is given in [5]. C. Auto-configuration in OPC UA
The RMS enhances system responsiveness by improving Traditionally, the configuration of OPC UA server for
scalability, convertibility, diagnosability, customization, recon- providing addressing of process variables need to be configured
figurability and effective maintenance. Reconfiguration tech- manually. A human operator must define the mapping of field
nologies are used in RMTs(Reconfigurable Machine Tools), devices process variables by using instances and types of OPC
RIMs(Reconfigurable Inspection Machine) and RMSs. The UA information mode. This procedure could involve many
hardware reconfigurability of components and systems is es- errors and consequently the thousands of process variables
sential, but the software for supporting product/process mod- for sensors or signals need to be reconfigured. Moreover,
eling, process and production control strategies are challenges any change in process variables of devices or system leads
for RMS [10]. [11] indicates that softwares used in RMS to considerable work of find and modification of mapping
should be in a modular form, modifiable/reusable and most between OPC UA and the device or system.
importantly reconfigurable. For example, in typical CNC (Nu- A self-managed and TCP/IP protocol based auto-
merical Controller) machines and RMTs composed RMS for configuration process of the OPC UA is proposed in [14].
a family of products, users often have no access to the The proposal attempts to automate the execution, configuration
proprietary control system for CNC and consequently hindered and deployment of OPC UA server. Firstly, new PLCs in
further sensor or process control improvement of manufac- TCP/IP network are scanned by OPC UA server. By using the
turing system. Another example is PLC, it is widely used element provided by OPC UA information model and related
in the field of industrial automation, but the capabilities are information sent by PLC, the mapping between PLC process
limited: PLC need to be stopped to download new program, variables and related variables in OPC UA address space is
slow communications between PC and PLC, etc. built. Once the OPC UA server is configured, Modbus TCP/IP

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channel will be enabled by OPC UA server, Modbus messages
for maintaining OPC UA server and PLCs synchronization are
transmitted. The auto-configuration process mainly used for
industrial devices such as PLCs or RTU (Remote Terminal
Units).

III. OPC UA I NTEROPERABILITY AND C OMMUNICATION

1) Interoperability: Global competition and market pres-
sure drive manufacturing enterprises to adopt innovative tech-
nologies to obtain “sustainable competitiveness” and gain
as much as possible market share. However, considerable
downtime spent on the installation and setup, the followed
maintenance of complex systems, and difficulties of porting Figure 3: OPC Unified Architecture
current automation systems to different vendors’ products leads
to the high cost or even lost sale opportunities. Therefore,
the flexibility and adaptability improvements within industrial
automation are urgently needed for future manufacturing en-
terprises.
Service-Oriented Architecture (SOA) is a widely used
pattern in the industrial automation systems, because of its
easy integration and flexibility. The functionalities of differ-
ent industrial components would be defined service sets and
invokable for varies industrial tasks. Existing technologies
such as Devices Profile for Web Services (DPWS), EXI,
CoAP, RESTful, etc., both use SOA pattern for realizing the
interoperability. OPC UA adopts the SoA pattern and specifies
Service Sets for providing varies services for components
of automation pyramid, from company level to manipulating
level. Existed products such as automation and control sys-
tems such, Beck-hoff TwinCAT, Siemens SIMATIC and B&R
Automation Studio, etc [15]–[17].
To achieve semantically interoperability of various devices
or systems, common standard communication protocols should
be adopted for satisfying technical interoperability and syn-
tactic interoperability [22]. The technical interoperability and Figure 4: Automation Pyramid with OPC UA vertical and
syntactic interoperability are reached by standardization of horizontal integration
different protocols of transport layer, such as OPC TCP and
HTTP(S) combined with message encodings defined in OPC
UA specification book part 6, the OPC UA Binary, OPC UA 2) Communication capability: After industrial automation
XML and OPC UA JSON. The latest communication paradigm communications’ development experienced field bus system
defined in OPC UA specification book 14 PubSub introduced and Ethernet-based network, future industrial network re-
broker-less middleware and broker-based middle middleware quires industrial communication with real-time, low-latency,
for sending and receiving messages between distributed ap- etc characteristics, because connectivity quality, efficiency and
plications, correspondingly transport protocol mappings such lower costs are needed for manufacturing companies in era of
as OPC UA UDP, OPC UA Ethernet, MQTT, AMQP, and Industrie 4.0. It can be expected that communication will be
message mappings such as UADP message, JSON message taken place at every layer of ISA95 automation pyramid by
are defined in the specification. implementation of two objectives of Industrie 4.0: cross-layer
structure connectivity, semantic interoperability of components
By using instances and types defined in OPC UA specifi- and systems provided by open vendor-independent architecture
cation book part 3 The Address Space Model [18], the OPC [22]. Besides, IoT, CPS and TSN together with other ICT tech-
UA specification part 5 Information Model [19] describes the nologies will ensure information exchange within industrial
base information model. OPC UA meta model uses instances automation more efficient and comprehensive [23].
and types provided by base information model to describe There are various industrial systems and devices exist in
other information models (e.g. Alert and Conditions, Data industrial automation, for example, sensors, PLCs, SCADA,
Access, Historical Data Access, specific industrial domain MES, ERP [20], [21], etc., showed as Figure.4. To accom-
information models, etc) and to build OPC UA server address modate requirements of Industrie 4.0, vertical and horizontal
space. Together with OPC UA infrastructures: Service Sets, communication metrics are studied in [24]. Communication
Transport, Discovery, Security and Robustness, OPC UA en- from factory level to field level could be classified as :
ables interoperability at the semantic level. The multi-layered
architecture showed as Figure.3. • Control and Field level. Communication latency is

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 smaller than 1µs between field level devices and memory footprint on the server. Meanwhile in PubSub mode,
controls, transmission scheduled but unreliable is pro- data are sent periodically with not so much memory needed
vided between Control and Field level. on the server. That’s why IoT, with potentially a lot of clients,
• Control-to-Control (C2C). C2C communication be- own should prefer the PubSub mode.
tween high level embedded devices latency less than
1ms and provide prioritized traffic with unreliable IV. OPC UA MQTT P UB S UB IMPLEMENTATION AND
transmission. CONFIGURATION TOOL

• Human Machine Interface (HMI) and Control level. A. OPC UA PubSub Components and Parameters
Communication latency is smaller than 100ms be- Information exchange plays a vital role in the industrial
tween SCADA/HMI level. The transmission should be automation domain, especially in the ear of Industrie 4.0.
reliable and can provide best effort traffic. Control and measurement equipment are essential components
• Enterprise level and Control Level. Information ex- for manufacturing as we discussed above, information for-
change latency between enterprise level and control mats, data structures, and communication latency could be
level could various, from seconds to hours. The trans- various, besides, manufacturing companies need to consider
mission should be reliable and can provide best effort the scalability of field level devices, information distribution
traffic. efficient, and also network bandwidth capacity. To accommo-
date with above requirements, MQTT was created by Andy
OPC UA provides Client/Sever mode or PubSub mode Standford-Clark of IBM and Arlen Nipper of Eurotech for
to implement communication among industrial devices and devices characterized by resource-constrained, low-bandwidth,
systems, according to specific requirements and resources of and appropriate for high-latency or unreliable networks [25].
situation.
MQTT and OPC UA related researches and developments
1) Client/Server mode. This OPC UA Service is named are undergoing in recent years. [26] implemented a gateway
Publish Subscribe, it must not be confused with the device based on “Raspberry Pi” for communication between
PubSub of Part 14. By using services provided by a field device and communication network such as Ethernet.
OPC UA, Client can employ OPC UA Read service Except employing OPC UA for control data transmission and
and Write service to get and put values from/to MQTT for monitoring data transmission, interfaces such as
one or more attributes of node existed in Server GPIO, USB and serial port for connection and communication
address space. Another way to access data is to using are also needed to be implemented in gateway device. In this
Subscription and Monitored Items mechanism. After work, control data for field device are sent from an OPC
Session established, data changes will be transported UA server within computer to an OPC UA client in gateway
to Client. Monitored Items created in Subscription device. Monitor data are collected from the USB connected
are entities of OPC UA Server and created by field device and sent to a MQTT Publisher of the gateway
OPC UA Client. Monitored Items could be three device, then distributed to the MQTT Subscribers. Control
types: Variable Values’ data change, Event defined by data can be also generated by an application program in PLC
EventNotifier, aggregated value of current Variable or transferred from another OPC UA client. After PubSub is
Values within a client-defined interval. Contents of released as part of OPC UA specification books, another re-
Monitored Items are packed if necessary, that is when search [27] has investigated Time-Sensitive Networking (TSN)
they changes, into a Notification to be sent to Client extension of the Ethernet standards for transport of OPC UA
at every Publishing Interval. Publishing Interval is PubSub messages and an OPC UA PubSub proposal based on
one of the Notification settings. The Notification brokerless mode is presented.
transmission of OPC UA Server must be triggered In our implementation, the subscriber of Mosquitto (version
by Publish Requests of Client. 1.5.3) [28] is extended with components specified in OPC UA
2) PubSub mode. OPC UA communication capabilities PubSub specification and used as OPC UA PubSub Subscriber.
have been enhanced by adding a new communi- An OPC UA Server implementation is extended with the
cation patter, OPC UA PubSub. The new pattern components defined in OPC UA PubSub and used as OPC
is scalable and flexible for industrial applications UA Publisher. The OPC UA PubSub configuration tool is built
and different scenarios, for example, sensors and based on an OPC UA client for configuring the OPC UA Pub-
actuators located at field level of factory. In broker Sub parameters such as MQTT topic, DataSetMetaDataType,
based mode, by using protocols such as Advanced PublishedDataSetDataType, DataSetWriterDataType, Writer-
Message Queuing Protocol (AMQP), Message Queue GroupDataType for Publisher, and DataSetReaderDataType,
Telemetry Transport (MQTT), NetworkMessages of DataSetReaderGroup for Subscriber. As indicated in the OPC
Publisher can be sent to Broker, then Broker will UA specification part 6 and part 14, the communication be-
dispatch Networkmessages to Subscriber depends on tween OPC UA applications depends on same StackProfile, an
topics interested by Subscribers. In brokerless mode, OPC UA application should implement at least one StackPro-
publisher and subscriber communication depends on file. Mappings are organized into three group: DataEncodings,
infrastructure provided by the network with less la- TransportProtocols and SecurityProtocols. The specification
tency such as Multicast UDP. part 14 defined new message mappings and protocol mappings
We can say that with the Client/Server mode, the data are for PubSub mode. Related message and protocol mapping
sent when changed and that the client is required to open configurations are configured by our tool. In detail, there are
a session, to set monitored items, to set a subscription and UADP Message Mapping and JSON Message Mapping for
to send Publish messages to the server. This implies a big the PubSub DataEncoding. For the TransportProtocol mapping,

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there are datagram transport protocol mapping for broker-less
mode, and broker transport protocol mapping for broker-based
mode. Our implementation adopts the JSON based message
mapping to enable the OPC UA application be able to ex-
change JSON messages with local or remote software that uses
the same format. The OPC UA Publisher’s NetworkMessage
and DataSetMessage are encoded as JSON object, each JSON
NetworkMessage can contain one or more JSON DataSetMes-
sage. JSON object fields encoding of the NetworkMessage, the
DataSetMessage, and the value presence, are defined in the
specification. The OPC UA Publisher, OPC UA Subscriber,
and the configuration tool are both developed in C, thus our
implementations can be easily integrated into other C/C++
OPC UA projects.
According to different scenarios, the OPC UA Publisher Figure 5: Configuration procedure
and Subscriber can be combined within OPC UA Server or
Client. Existed PubSub components in our implementation
that need to be configured include: the DataSet Collector, the
DataSet Writers and the Writer Groups at the Publisher side,
DataSet Reader and Reader Groups at the Subscriber side.
Different data types and/or classes are defined for transport
protocol mappings and message mappings. Parameters will
be serialized and structured as a file in prefixed text format
and sent to the OPC UA Publisher and Subscriber. The
functionality descriptions of each parameter are given below:
• DataSetMetaDataType. DataSetMetaDataType defines
field names, data types, units, etc contents of a
DataSet, and thus the semantics of a DataSet is given.
The fields’ order of the DataSetMetaData will decide
the layout of collected field values in the DataSetMes-
sage at Publisher side, and also the reading order of
field values at the Subscriber side.
• PublishedDataSetDataType. PublishedDataSet-
DataType is a group of parameters used for configure
DataSet value resource, it contains NodeId and
AttributeId of node and DataSetMetaData for Figure 6: Configuration procedure
Variable type DataSet resource and filter parameters
for event type resource. Service and Query Service, thus user can retrieve nodes’ basic
• DataSetWriterDataType. DataSetWriterDataType pro- information (e.g. NodeID, Attributes, etc). View is a subset
vides DataSetWriter configuration for DataSetMes- of AddressSpace of Publisher, which includes the nodes user
sage creation. Except DataSetWriter-self related in- want to distribute information to other local or remote nodes
formation such as name, DataSetWriterId, etc., the of industrial components or systems. Configuration parameters
DataSetWriterDataType defined also DataSetMessage are edited by operator in an Qt-based Graphic User Interface
message mappings (JSON or UADP format), and (GUI), and can be sent to Publisher and Subscriber, imported
transport mapping (MQTT related parameters set- or exported in prefixed text format. The configuration proce-
tings). dure is showed as Figure.5, and the GUI of configuration tool
is Figure. 6.
• WriterGroupDataType. WriterGroupDataType config-
ures NetworkMessage creation process. This parame- The configured OPC UA Publisher creates 1) work
ter defined WriterGroupId, publishing interval of Net- thread pubsub server config to acquire configuration and
workMessages, transport mapping and NetworkMes- initiate entities such as DataSet Collector, DataSet Writer
sage message mapping, and DataSetWriters of a and DataSetWriter Group, 2) another work thread pub-
WriterGroup. sub mosquitto publisher to collect values produced by nodes
chosen from the View, creation of DataSetMessage and Net-
B. OPC UA PubSub MQTT Configuration Tool workMessage according to message mapping configuration,
The configuration tool is independent to the OPC UA and publishing of Mosquitto as indicated by transport protocol
Publisher and Subscriber. The configuration for Publisher and configuration.
Subscriber are transferred by a pair of sockets. After OPC Correspondingly, the configured OPC UA Subscriber will
UA security channel and session are established between the subscribe to topics received from the tool and waiting for
configuration tool Publisher and Subscriber, the configuration NetworkMessages from the Mosquitto Broker. By using the
tool can browse nodes of a View by using OPC UA View received message layout, the OPC UA Subscriber can decode

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