Developing Open Source Cyber-Physical Systems
for Service-Oriented Architectures Using OPC UA
Marcel Müller, Elmar Wings, Lars Bergmann
University of Applied Sciences Emden/Leer
Emden, Germany
marcel.mueller@hs-emden-leer.de
elmar.wings@hs-emden-leer.de
lars.bergmann@technik-emden.de
Abstract—Cyber-physical systems (CPS) are key enabling
technologies for the fourth industrial revolution, referred to
as Industrie 4.0 or Industry 4.0. The Reference Architecture
Model Industrie 4.0 (RAMI4.0) has recently been standardized
and OPC Unified Architecture (OPC UA) is listed as the sole
recommendation for implementation of a communication layer.
Many automation and control systems offer already implemen-
tations of OPC UA but no satisfying implementation of OPC
UA was found for Arduino, a popular platform for engineering
physical computing systems. This paper presents open source
integration and application of a customizable OPC UA server
on an Arduino Yun board using open62541, an open source and
free implementation of OPC UA. The Arduino board discussed
in this paper offers hot-end closed-loop temperature control
for a 3D printer but the temperature set value and control
parameters can be manipulated and requested via OPC UA using
OPC UA clients. The application is verified using Prosys OPC
UA Client and UaExpert. The results of our research can be
used for developing open source cyber-physical systems without
specialized knowledge in microcontroller programming, bringing
Industry 4.0 applications into classrooms without effort.
I. I NTRODUCTION
Cyber-physical systems (CPS) are key enabling technolo-
gies for the fourth industrial revolution, referred to as Industrie
4.0 or Industry 4.0 [1]. CPS are embedded systems which
combine the physical world with the virtual world via net-
works. Sensors are used by CPS to bring information from the
physical world to the virtual world, while actuators are used
to influence the physical world from the virtual world [2], [3].
Local Area Networks (LAN) and Wireless Local Area Net-
works (WLAN) can be used for communication. Considering
the concept of the Internet of Things (IoT), the network used
is not restricted to a local company network, which makes
global access to information and services possible, and offers
entirely new perspectives for automation technologies. For
example, sensor data are no longer limited to the shop floor
field bus; they can be offered in a cloud and can be directly
accessed, e.g., by manufacturing execution systems (MES)
and/or enterprise resource planning systems (ERP). As a result,
the conventional architecture of the automation pyramid will
gradually be transformed into a CPS-based architecture with
decentralized services [2], [3]. The interoperability of systems
makes intelligent production systems possible, offering cost-
efficient and energy-efficient production. This vision is also re-
l-))) 
ferred to as cyber-physical production systems (CPPS) [3]. The
idea of such systems is not new and in the past, many protocols
have been developed for application, e.g., Devices Profile
for Web Services (DPWS), Constrained Application Protocol
(CoAP), Message Queue Telemetry Transport (MQTT), OPC
Unified Architecture (OPC UA) etc., [4] but no uniform and
consistent reference standards were available. The Reference
Architecture Model Industrie 4.0 (RAMI4.0) has recently been
standardized [5] and OPC UA is listed as the one and only
recommendation for implementation of a communication layer
[6]. Therefore, the focus of this paper is on OPC UA.
According to RAMI4.0 [6], extensive, complex things such
as machines, as well as less extensive things such as intelligent
sensors, can be integrated using Industry 4.0 compliant com-
munication. Many automation and control systems, e.g., Beck-
hoff TwinCAT, Siemens SIMATIC, B&R Automation Studio
etc., offer already OPC UA communication interfaces which
make I4.0 compliant communication, e.g., of programmable
logic controllers (PLC) with MES and ERP, possible [7]–[10].
Considering the idea of intelligent sensors and decentralized
services, small CPS, e.g., temperature sensors or controllers
with their own OPC UA interfaces, are also useful. Therefore,
we are focused on compact physical computing systems.
In recent years, Arduino became a popular platform for
engineering physical computing systems. Its concept makes a
wide range of sensors, actuators and interfaces easily accessi-
ble to those without specialized knowledge in microcontroller
programming. Arduino is suitable for engineering low-cost
physical computing systems because hardware and software
are published under open source licenses and pre-assembled
boards are available for less than $20 [11]. In addition, Ar-
duino become usable for industrial applications: e.g., Industru-
ino, an Arduino compatible industrial controller with industrial
level I/O capability, is available and the German institution
“Industrie- und Handelskammer (IHK)” defines Arduino as a
demonstrator for examinations [12], [13]. Therefore, the aim
of this paper is to make Arduino-based CPS with Industry 4.0
compliant interfaces possible. After the Introduction in Section
I, Section II shows the start of the art. Section III describes
our approach and Section IV describes the application. The
evaluation of the application is presented in Section V. The
paper ends with a conclusion in Section VI.
 II. S TATE OF THE A RT
A. Arduino
Firstly, Arduino was created as a tool for fast prototyping,
aimed at students without a background in electronics and
programming; but now Arduino boards are also used to control
complex machines such as 3D printers, laser cutters and
milling machines [14]–[18].
Most of the pre-assembled Arduino boards have digital
input and output pins as well as analog input pins and analog
output pins via pulse-width modulation (PWM) [19]. Some
pins have specialized functions; e.g., supporting Serial Periph-
eral Interface (SPI) communication or Inter-Integrated Circuit
(I2 C), triggering interrupts, or receiving and transmitting serial
data. This concept makes many kinds of sensors and actuators
available for Arduino. Often, a USB port is available for
programming and serial communication. Further interfaces can
be added by modules and converters, e.g., Bluetooth modules,
RS232 or RS422/485 converters, which convert to Arduino’s
TTL logic levels. In addition, many Arduino shields are
available to extend the capabilities of Arduino boards. A shield
is an add-on circuit board which is mounted onto the Arduino
board and offers special functionalities. For example, the
RepRap Arduino Mega Pololu Shield (RAMPS) is designed
to control a 3D printer with an Arduino Mega [15]. Some
Arduino boards are designed for special purposes: for example,
the Arduino Yun board is especially designed for IoT projects
and has built-in Ethernet and WiFi support. Other Arduino
boards can be upgraded using shields which make Ethernet
and WiFi possible. Hardware access is supported by Arduino
libraries which are integrated in the Arduino Software (IDE).
The IDE is published as an open source tool and the plans of
the Arduino boards are published under a Creative Commons
license.
All the properties described indicate that Arduino is a good
platform for fast, open source and low-cost prototyping of
cyber-physical systems. Therefore, in this paper an Arduino
Yun board is used for prototyping.
B. OPC UA
OPC UA is a data exchange standard developed by the
OPC Foundation and standardized in IEC 62541. It follows
the paradigm of a service-oriented architecture and makes
industrial server/client communication possible using estab-
lished standards, such as TCP/IP, for data exchange. OPC UA
offers a security concept for secure data exchange and allows
platform-independent and vendor-neutral communication. It
represents data accompanied by semantic metadata; i.e., values
are accompanied by engineering units. OPC UA is useful for
horizontal and vertical data exchange from sensor level to
ERP level, and the cooperation of the OPC Foundation and
PLCopen ensures acceptance of OPC UA in automation sys-
tems because OPC UA function blocks are defined; i.e., OPC
UA can be used in environments that feature the programming
standard IEC 61131-3 [20], [21].

C. Implementation of OPC UA for Arduino
The paper [22] presents an approach for accessing field
data in automation systems via OPC UA from Arduino boards
across a BeagleBone Black (BBB) board via Modbus and [23]
presents an approach for accessing data using MQTT and
a Raspberry Pi as a gateway. This means that no on-board
implementation of OPC UA was found for Arduino, and that
additional boards are required.
D. OPC UA protocol stack
Many different protocol stacks are available for imple-
mentation of OPC UA. Some stacks are only designed for
server or client implementation, while other stacks support
both. Protocol stacks are available for many platforms, e.g.,
Windows, Linux, Mac and embedded systems; and for many
programming languages, e.g., C, C++, Java and Python. Some
stacks are even available under open source licenses, which
makes these stacks especially appropriate for implementation
on Arduino. In this paper, the protocol stack open62541 is
studied more closely. It is published as a free and open source
C-based library for implementations of OPC UA clients and
servers. Open62541 was first licensed under the LGPL with a
static linking exception and has recently been licensed under
the MPLv2. This matches the open source concept of Arduino
and also makes the stack interesting for commercial projects
[24]–[26].
III. A PPROACH
In this paper an Arduino Yun board is used for prototyping
but an Arduino Yun Shield can be used to bring the Yun
features to other Arduino boards.
A. Properties of Arduino Yun
The architecture of the Arduino Yun board is shown in Fig.
1. The Arduino Yun board has two processors: AVR Arduino
microcontroller ATmega32u4 and Atheros AR9331 running
a Linux distribution. In this paper OpenWrt-Yun, based on
OpenWrt, is used. All I/O pins are tied to the ATmega32u4
while Ethernet, WiFi and SD card are tied to the AR9331.
The OPC UA server is implemented on AR9331 and the
Arduino program (sketch) runs on ATmega32u4. This means
that AR9331 represents the Linux side and handles OPC UA
communication, while ATmega32u4 represents the Arduino
side and handles physical interaction with sensors and actua-
tors. Both processors communicate via serial communication
with each other.
B. Linux side: Design of OPC UA server implementation
The OPC UA server is designed using version 0.2-rc2 of
open62541. Source code modifications were not necessary.
In this paper, we use MethodNodes. Therefore, input argu-
ments can be set and output arguments can be obtained by
calling methods. The arguments represent values which are
referenced to variables on the Arduino side. We have several
MethodNodes pre-implemented for prototyping which can be
activated and referenced by the Arduino. Attributes of the
 Arduino Yun Board
ATmega32U4
Serial
Temp. Control
Implementation
GPIO Micro
Headers USB
A0 D10
Prog.
NTC MOSFET
PC
Fig. 1. Architecture of Arduino Yun with temperature control and OPC UA application
nodes, such as BrowseName and DisplayName, can also be
assigned. The OPC UA server waits for configuration from
the Arduino side when it has started. Therefore, it is listen on
serial port /dev/ttyATH0. The Arduino side sends information
to the server regarding the nodes desired. Depending on the
configuration information, the server creates the nodes desired
and is listen on port 4840.
Currently, the number of our pre-implemented
MethodNodes is limited to four data types and five variables
per data type. When the number of pre-implemented nodes
and data types is sufficient, the OPC UA server implemented
can be used for Arduino projects without re-compilation on
the Linux side. This makes it possible to bring information
from Arduino to OPC UA without specialized knowledge in
microcontroller programming or programming on embedded
Linux. When the number of implemented variables or data
types is not sufficient for a project, further nodes can be
added, but this requires modifications in the source code of
the OPC UA server. Source code compilation on the Linux
side is initiated by terminal emulation via WiFi and directly
performed on AR9331 by the GNU Compiler Collection
(GCC). The C99 version of the C programming language
standard is used.
C. Arduino side: Design of Arduino sketch
An Arduino library was developed which abstracts data
access, handles data transfer and reduces effort needed to
create OPC UA nodes such as MethodNodes, with specific
AR9331 Linux SD Card
Reader
OPC UA Server
Implementation
OPC UA Interfaces
WiFi Ethernet
Interface Interface
OPC UA
Client
attributes such as BrowseName and DisplayName. Table I lists
the Arduino data types currently supported by our library with
their reference to OPC UA data types.
The library contains a class called OPCUA. The constructor
configures the serial port (Serial1) for serial communication
when an instance of the class is created. The library offers
two functions for creating methods and referencing them to
Arduino variables: addMethodIn and addMethodOut. Both
functions expect two parameters: the first parameter is the
address of a variable which will be referenced to the OPC UA
method; the second parameter is the text used as an attribute
for BrowseName and DisplayName. In the Arduino sketch’s
setup function the functions addMethodIn and addMethodOut
have been called. Both functions send configuration informa-
tion to the OPC UA server. Another function offered by the
library is called handle. It has been called in the Arduino
sketch’s loop function and handles data exchange. It assigns
input arguments from methods called to Arduino variables and
assigns Arduino variables to output arguments. Source code
compilation on the Arduino side is initiated by Arduino IDE;
WiFi and USB communication are feasible.
IV. A PPLICATION
The approach described above is applied to make a CPS
for temperature control possible. The application follows
the concept of hot-end closed-loop temperature control and
temperature measurement for a 3D printer as described in
[27]. With a focus on [27], the CPS replaces the part of the

 TABLE I
R EFERENCE OF DATA TYPES ON A RDUINO SIDE (AT MEGA 32 U 4) AND
L INUX SIDE (AR9331) CONSIDERING IEC 62541-3 AND OPEN 62541
Arduino IEC 62541-3 open62541
Boolean Boolean UA Boolean
Integer Int16 UA Int16
Float and Double Float UA Float
String String UA String
temperature control with its sensor and actuator described in
its extended CNC architecture for fused layer modeling.
Fig. 1 shows the architecture of our application. An NTC
thermistor EPCOS 100k [28] is used for temperature mea-
surement, and is connected to Arduino Yun’s analog input pin
A0. A MOSFET IRF3708 [29] is used to amplify the pulse-
width modulated (PWM) control signal from 5V to 12V. It
is connected to Arduino Yun’s PWM pin 10. The amplified
signal powers a thermal resistor which represents the heating
unit.
The Arduino sketch implemented makes closed-loop tem-
perature control possible using a PID control algorithm. For
this purpose, the Arduino PID library is used. The AT-
mega32u4 has 1 kB of EEPROM. The EEPROM is used
to permanently store initial values such as PID parameters
and the temperature set value. The temperature set value and
PID parameters can be manipulated temporarily in SRAM and
permanently in EEPROM via OPC UA. The actual tempera-
ture, the temperature set value and PID parameters can be
requested via OPC UA. Fig. 2 shows the procedure for data
exchange. The procedure is described using an example: an
OPC UA client requests the value of the PID Parameter P.
Communication steps are represented by numbered arrows.
1) An OPC UA client calls the method called “Get PID
Parameter P”.
2) The OPC UA server receives the method call and
handles it. It requests the value from the Arduino side
(32u4) via serial communication.
3) The Arduino side receives the request and answers with
the value of the variable referenced.
4) The OPC UA server receives the value from the Arduino
side and sends it as an output argument of the method
call to the OPC UA client.
1 2
OPC UA Client OPC UA Server ATmega32u4
4 3
Fig. 2. Procedure for data request from OPC UA client and response from
OPC UA server

Actually, the application supports the following features via
OPC UA by method calls:
• Temperature control can be enabled/disabled.
• Temperature set value can be set/modified temporarily.
• PID parameters can be set/modified temporarily.
• Status of temperature control can be requested.
• Temperature set value can be requested.
• Actual temperature can be requested.
• PID parameters can be requested.
• PID output value can be requested.
• PID parameters and the temperature set value can be
modified permanently. For this purpose, values are trans-
ferred from SRAM to EEPROM.
These features are sufficient for the application of temperature
control, but there is no reason to limit the application to
these values. The application described is limited to a specific
NTC sensor because constant NTC parameters from data
sheets are deposed in the Arduino sketch. When the NTC
sensor is replaced by an NTC from another vendor or batch,
constant parameters can change and modifications in the
Arduino sketch are required. Therefore, we will make more
parameters modifiable to make maintenance more flexible
via OPC UA. Our application is only focused on hot-end
closed-loop temperature control, but it is also possible to
make chamber/workspace or heating bed temperature control
possible.
V. E VALUATION
A private wireless network is established for prototyping
using a private WiFi router (TP-Link TL-WR841ND). Special
router configuration is not necessary. The Arduino Yun’s WiFi
interface is configured for DHCP and to look for the SSID of
our router. The router assigns it the IP address 192.168.0.100;
therefore, the Yun’s OPC UA server can be reached at:
opc.tcp://192.168.0.100:4840. When the router is not avail-
able, the Arduino establishes its own network and the OPC
UA server can be reached at: opc.tcp://192.168.240.1:4840.
Two separate OPC UA clients are used at the same time
to demonstrate vendor-independent and platform-independent
communication. First, the Microsoft Windows version of the
OPC UA client UaExpert is used to set the PID parameter P
value to 9.5, which is shown in Fig. 3. The Android version of
Prosys OPC UA Client is used to verify the modification. Fig.
4a shows that the value is 9.5. Following this, the Prosys OPC
UA Client is used to set the value to 12.5. This is shown in Fig.
4b. Finally, UaExpert is used again to verify the modification.
Fig. 5 shows that the value is now 12.5.
Finally, the Arduino Yun’s Ethernet interface is used to bring
it into the universities network. The evaluation procedure and
the results are equal. The open62541 client was deliberately
not used for evaluation to demonstrate vendor-independent
communication.
 Fig. 3. Method called by UaExpert to set PID parameter P value to 9.5 Fig. 5. Method called by UaExpert to get PID parameter P value: 12.5

not suitable for small applications such as built-in temperature

sensors, but the concept can be used to develop customized
built-in solutions because the plans of the Arduino boards are
published under the Creative Commons license. The develop-
ment of such built-in solutions is part of our further research.
With a focus on education, students are able to use Arduino
for building up service-oriented architectures without special-
ized knowledge in microcontroller programming.
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