Displaying Factory Data with Digital Twin

The digital twin feature in Tier0 is for you to view live UNS data on 3D models in lifelike scenes. In this section, we bring a workshop to life. It contains the following machines:

• 2 lathes
• 1 robot arm working between these lathes
• 1 inbound buffer station and 1 outbound buffer
• 1 quality checker
• 1 Unified Control System
• 2 raw material shelves and 2 product shelves
• 1 AGV

Collecting Data from Workshop

Collect all data to UNS, including data that controls machine movements and indicates machine status and the workshop environment.

1. Build data models in UNS.

   Show UNS model JSON

   {
   "namespace": [
       {
       "name": "Metric",
       "alias": "metric_151a7edd68bf4269a229",
       "type": "PATH",
       "children": [
           {
           "name": "RobotArm",
           "alias": "Robot_0_9d5dc450dc1f4c0c9a86",
           "type": "TOPIC",
           "topicType": "METRIC",
           "extendProperties": {
               "J0_Cur": "0"
           },
           "fields": [
               {
               "name": "J1_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J1_Init",
               "type": "FLOAT"
               },
               {
               "name": "J2_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J2_Init",
               "type": "FLOAT"
               },
               {
               "name": "J3_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J3_Init",
               "type": "FLOAT"
               },
               {
               "name": "J4_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J4_Init",
               "type": "FLOAT"
               },
               {
               "name": "J5_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J5_Init",
               "type": "FLOAT"
               },
               {
               "name": "J6_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J6_Init",
               "type": "FLOAT"
               },
               {
               "name": "Model_Name",
               "type": "STRING"
               },
               {
               "name": "Max_Payload_kg",
               "type": "FLOAT"
               },
               {
               "name": "Reach_Radius_mm",
               "type": "FLOAT"
               },
               {
               "name": "Gripper_Force_N",
               "type": "FLOAT"
               }
           ],
           "enableHistory": "TRUE",
           "mockData": "FALSE"
           },
           {
           "name": "ProLathe-01",
           "alias": "ProLathe_ef325e0a9db047d6abac",
           "type": "TOPIC",
           "topicType": "METRIC",
           "fields": [
               {
               "name": "J_Changer_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Door_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Finger_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Spindle_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_TailStock_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_X_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Y_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Z_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Model_Name",
               "type": "STRING"
               },
               {
               "name": "Max_Placement_Rate_cph",
               "type": "INTEGER"
               },
               {
               "name": "Placement_Speed_cph",
               "type": "INTEGER"
               },
               {
               "name": "Feeder_Usage_pct",
               "type": "INTEGER"
               },
               {
               "name": "Machine_State_code",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "ProLathe-02",
           "alias": "ProLathe2_ef325e0a9db047d6abac",
           "type": "TOPIC",
           "topicType": "METRIC",
           "fields": [
               {
               "name": "J_Changer_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Door_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Finger_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Spindle_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_TailStock_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_X_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Y_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J_Z_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Model_Name",
               "type": "STRING"
               },
               {
               "name": "Max_Placement_Rate_cph",
               "type": "INTEGER"
               },
               {
               "name": "Placement_Speed_cph",
               "type": "INTEGER"
               },
               {
               "name": "Feeder_Usage_pct",
               "type": "INTEGER"
               },
               {
               "name": "Machine_State_code",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "AGV",
           "alias": "AGV_7eddee0054a0",
           "type": "TOPIC",
           "topicType": "METRIC",
           "fields": [
               {
               "name": "Position_X_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Position_X_Init",
               "type": "FLOAT"
               },
               {
               "name": "Position_Y_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Position_Y_Init",
               "type": "FLOAT"
               },
               {
               "name": "Rotation_Y_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Rotation_Y_Init",
               "type": "FLOAT"
               },
               {
               "name": "Tray_Height_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Tray_Height_Init",
               "type": "FLOAT"
               },
               {
               "name": "State_Cur",
               "type": "STRING"
               },
               {
               "name": "State_Init",
               "type": "STRING"
               },
               {
               "name": "Position_Z_Cur",
               "type": "FLOAT"
               },
               {
               "name": "Position_Z_Init",
               "type": "FLOAT"
               },
               {
               "name": "Model_Name",
               "type": "STRING"
               },
               {
               "name": "Max_Load_kg",
               "type": "FLOAT"
               },
               {
               "name": "Task_Progress_pct",
               "type": "INTEGER"
               },
               {
               "name": "Remaining_Distance_m",
               "type": "FLOAT"
               },
               {
               "name": "AGV_State_code",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "RobotArm-1",
           "alias": "RobotArm_1_b9f06e21346d",
           "type": "TOPIC",
           "topicType": "METRIC",
           "fields": [
               {
               "name": "J1_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J1_Init",
               "type": "FLOAT"
               },
               {
               "name": "J2_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J2_Init",
               "type": "FLOAT"
               },
               {
               "name": "J3_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J3_Init",
               "type": "FLOAT"
               },
               {
               "name": "J4_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J4_Init",
               "type": "FLOAT"
               },
               {
               "name": "J5_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J5_Init",
               "type": "FLOAT"
               },
               {
               "name": "J6_Cur",
               "type": "FLOAT"
               },
               {
               "name": "J6_Init",
               "type": "FLOAT"
               }
           ],
           "enableHistory": "TRUE",
           "mockData": "FALSE"
           }
       ]
       },
       {
       "name": "State",
       "alias": "state_3912d0df3fee",
       "type": "PATH",
       "children": [
           {
           "name": "RawMaterialStorage",
           "alias": "RawMaterialS_c3307f680405",
           "type": "TOPIC",
           "topicType": "STATE",
           "fields": [
               {
               "name": "StockAmount",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "ProductStorage",
           "alias": "ProductStora_3c145f140bd9",
           "type": "TOPIC",
           "topicType": "STATE",
           "fields": [
               {
               "name": "StockAmount",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "InboundBuffer",
           "alias": "LoaderBuffer_9feece9b3231",
           "type": "TOPIC",
           "topicType": "STATE",
           "fields": [
               {
               "name": "Amount",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           },
           {
           "name": "OutboundBuffer",
           "alias": "OutboundBuff_75433b98fde6",
           "type": "TOPIC",
           "topicType": "STATE",
           "fields": [
               {
               "name": "Amount",
               "type": "INTEGER"
               }
           ],
           "enableHistory": "FALSE",
           "mockData": "FALSE"
           }
       ]
       }
   ]
   }

2. Use a Source Flow to connect data sources to UNS models.

   • Robot Arm
   Show Robot Arm flow JSON

   [
       {
           "id": "03933a7eb1a7b992",
           "type": "function",
           "z": "8daeb61ebd9e5f52",
           "name": "Cache Data",
           "func": "const CONFIG = {\n    fields: ['Joint_1', 'Joint_2', 'Joint_3', 'Joint_4', 'Joint_5', 'Joint_6'],\n    payloadFields: {\n        value: 'CurrentValue',\n        initialValue: 'InitialValue',\n        name: 'Name',\n        timeStamp: 'timeStamp',\n        time_stamp: 'time_stamp',\n        quality: 'quality'\n    }\n};\n\nlet cache = flow.get('dataCache') || { instant: {}, metadata: {} };\n\nconst topicParts = msg.topic.split('/');\nconst fieldName = topicParts[topicParts.length - 1];\n\nlet payload = msg.payload;\nif (typeof payload === 'string') {\n    try {\n        payload = JSON.parse(payload);\n    } catch (e) {\n        return null;\n    }\n}\n\nlet value = payload[CONFIG.payloadFields.value];\nif (value === undefined) return null;\n\nconst metadata = {\n    timeStamp: payload[CONFIG.payloadFields.timeStamp],\n    time_stamp: payload[CONFIG.payloadFields.time_stamp],\n    quality: payload[CONFIG.payloadFields.quality],\n    name: payload[CONFIG.payloadFields.name],\n    initialValue: payload[CONFIG.payloadFields.initialValue]\n};\n\nif (CONFIG.fields.includes(fieldName)) {\n    cache.instant[fieldName] = value;\n    cache.metadata[fieldName] = metadata;\n} else {\n    return null;\n}\n\nflow.set('dataCache', cache);\nreturn null;",
           "outputs": 0,
           "timeout": "",
           "noerr": 0,
           "initialize": "",
           "finalize": "",
           "libs": [],
           "x": 880,
           "y": 500,
           "wires": []
       },
       {
           "id": "0c4dbdcbe5e3db92",
           "type": "mqtt in",
           "z": "8daeb61ebd9e5f52",
           "name": "Subscribe Joint_1~6",
           "topic": "FactorySim_Supos/Flow_Group__1/MechEquips/Transporter_Kawasaki_BX100N/Motor_Joints/+",
           "qos": "1",
           "datatype": "auto",
           "broker": "c11decb07a68083d",
           "nl": false,
           "rap": true,
           "rh": 0,
           "inputs": 0,
           "x": 610,
           "y": 480,
           "wires": [
               [
                   "03933a7eb1a7b992"
               ]
           ]
       },
       {
           "id": "ba42bca5aa9dc561",
           "type": "inject",
           "z": "8daeb61ebd9e5f52",
           "name": "100ms Timer",
           "props": [
               {
                   "p": "payload"
               },
               {
                   "vt": "str",
                   "p": "topic"
               }
           ],
           "repeat": "0.1",
           "crontab": "",
           "once": true,
           "onceDelay": "0.1",
           "topic": "",
           "payload": "",
           "payloadType": "date",
           "x": 520,
           "y": 600,
           "wires": [
               [
                   "0fc94449c377ad9a"
               ]
           ]
       },
       {
           "id": "0fc94449c377ad9a",
           "type": "function",
           "z": "8daeb61ebd9e5f52",
           "name": "Aggregate & Publish (Flat)",
           "func": "const CONFIG = {\n    fieldMapping: {\n        'Joint_1': 'J1',\n        'Joint_2': 'J2',\n        'Joint_3': 'J3',\n        'Joint_4': 'J4',\n        'Joint_5': 'J5',\n        'Joint_6': 'J6'\n    },\n    missingStrategy: 'lastValue',\n    outputTopic: 'robot/state',\n    windowMs: 100\n};\n\nconst FIELDS = Object.keys(CONFIG.fieldMapping);\n\nlet cache = flow.get('dataCache') || { instant: {}, metadata: {} };\nlet lastValues = flow.get('lastValues') || {};\nlet lastMetadata = flow.get('lastMetadata') || {};\n\nlet output = {\n    timestamp: new Date().toISOString()\n};\n\nfor (const field of FIELDS) {\n    const shortName = CONFIG.fieldMapping[field];\n    \n    if (cache.instant[field] !== undefined) {\n        output[shortName + '_Cur'] = cache.instant[field];\n        output[shortName + '_Init'] = cache.metadata[field] ? cache.metadata[field].initialValue : 0;\n        output[shortName + '_Qly'] = cache.metadata[field] ? cache.metadata[field].quality : 0;\n        \n        lastValues[field] = cache.instant[field];\n        lastMetadata[field] = cache.metadata[field];\n    } else {\n        let fallbackValue = CONFIG.missingStrategy === 'lastValue' \n            ? (lastValues[field] !== undefined ? lastValues[field] : 0) \n            : 0;\n        \n        output[shortName + '_Cur'] = fallbackValue;\n        output[shortName + '_Init'] = lastMetadata[field] ? lastMetadata[field].initialValue : 0;\n        output[shortName + '_Qly'] = -1;\n    }\n}\n\nmsg.payload = output;\nmsg.topic = CONFIG.outputTopic;\n\nflow.set('dataCache', { instant: {}, metadata: {} });\nflow.set('lastValues', lastValues);\nflow.set('lastMetadata', lastMetadata);\n\nreturn msg;",
           "outputs": 1,
           "timeout": "",
           "noerr": 0,
           "initialize": "",
           "finalize": "",
           "libs": [],
           "x": 760,
           "y": 600,
           "wires": [
               [
                   "c9eee2264fe78846",
                   "a685279629e73d9a",
                   "4ce075fda1d3d993",
                   "8e8779918eab6f89"
               ]
           ]
       },
       {
           "id": "c9eee2264fe78846",
           "type": "mqtt out",
           "z": "8daeb61ebd9e5f52",
           "name": "Publish robot/state",
           "topic": "Metric/RobotArm",
           "qos": "1",
           "retain": "false",
           "respTopic": "",
           "contentType": "",
           "userProps": "",
           "correl": "",
           "expiry": "",
           "broker": "9836929a70c74929",
           "x": 1070,
           "y": 540,
           "wires": []
       },
       {
           "id": "c11decb07a68083d",
           "type": "mqtt-broker",
           "name": "supos-demo.supos.app",
           "broker": "supos-demo.supos.app",
           "port": 1883,
           "clientid": "",
           "autoConnect": true,
           "usetls": false,
           "protocolVersion": 4,
           "keepalive": 60,
           "cleansession": true,
           "autoUnsubscribe": true,
           "birthTopic": "",
           "birthQos": "0",
           "birthRetain": "false",
           "birthPayload": "",
           "birthMsg": {},
           "closeTopic": "",
           "closeQos": "0",
           "closeRetain": "false",
           "closePayload": "",
           "closeMsg": {},
           "willTopic": "",
           "willQos": "0",
           "willRetain": "false",
           "willPayload": "",
           "willMsg": {},
           "userProps": "",
           "sessionExpiry": ""
       },
       {
           "id": "9836929a70c74929",
           "type": "mqtt-broker",
           "z": "8daeb61ebd9e5f52",
           "name": "emqx",
           "broker": "mqtt.pre.tier0.dev",
           "port": "1883",
           "clientid": "336462685553088&336463047745872",
           "autoConnect": true,
           "usetls": false,
           "protocolVersion": "4",
           "keepalive": "60",
           "cleansession": true,
           "autoUnsubscribe": true,
           "birthTopic": "",
           "birthQos": "0",
           "birthRetain": "false",
           "birthPayload": "",
           "birthMsg": {},
           "closeTopic": "",
           "closeQos": "0",
           "closeRetain": "false",
           "closePayload": "",
           "closeMsg": {},
           "willTopic": "",
           "willQos": "0",
           "willRetain": "false",
           "willPayload": "",
           "willMsg": {},
           "userProps": "",
           "sessionExpiry": ""
       }
   ]

   • AGV
   Show AGV flow JSON

   [
       {
           "id": "fa46cf31be8d751e",
           "type": "tab",
           "label": "Metric/AGV",
           "disabled": false,
           "info": ""
       },
       {
           "id": "1f0e9d8c7b6a5a41",
           "type": "mqtt in",
           "z": "fa46cf31be8d751e",
           "name": "Subscribe AGV telemetry",
           "topic": "FactorySim_Supos/Flow_Group__1/MechEquips/AGV_zOnron/Motor_Joints/+",
           "qos": "1",
           "datatype": "auto",
           "broker": "c11decb07a68083d",
           "nl": false,
           "rap": true,
           "rh": 0,
           "inputs": 0,
           "x": 190,
           "y": 380,
           "wires": [
               [
                   "2a1b3c4d5e6f7081"
               ]
           ]
       },
       {
           "id": "2a1b3c4d5e6f7081",
           "type": "function",
           "z": "fa46cf31be8d751e",
           "name": "Cache AGV telemetry",
           "func": "const CONFIG = {\n    fields: [\n        'Position_X',\n        'Position_Y',\n        'Position_Z',\n        'Rotation_Y',\n        'Tray_Height',\n        'State'\n    ],\n    payloadFields: {\n        value: 'CurrentValue',\n        initialValue: 'InitialValue',\n        name: 'Name',\n        timeStamp: 'timeStamp',\n        timeStampAlt: 'time_stamp'\n    }\n};\n\nlet cache = flow.get('agvDataCache') || { instant: {}, metadata: {} };\n\nconst topicParts = (msg.topic || '').split('/');\nconst fieldName = topicParts[topicParts.length - 1];\nif (!CONFIG.fields.includes(fieldName)) {\n    return null;\n}\n\nlet payload = msg.payload;\nif (typeof payload === 'string') {\n    try {\n        payload = JSON.parse(payload);\n    } catch (error) {\n        return null;\n    }\n}\n\nif (typeof payload !== 'object' || payload === null) {\n    return null;\n}\n\nconst currentValue = payload[CONFIG.payloadFields.value];\nif (currentValue === undefined) {\n    return null;\n}\n\ncache.instant[fieldName] = currentValue;\ncache.metadata[fieldName] = {\n    name: payload[CONFIG.payloadFields.name] || fieldName,\n    initialValue: payload[CONFIG.payloadFields.initialValue],\n    timeStamp: payload[CONFIG.payloadFields.timeStampAlt] ?? payload[CONFIG.payloadFields.timeStamp] ?? 0\n};\n\nflow.set('agvDataCache', cache);\nreturn null;",
           "outputs": 0,
           "timeout": "",
           "noerr": 0,
           "initialize": "",
           "finalize": "",
           "libs": [],
           "x": 470,
           "y": 380,
           "wires": []
       },
       {
           "id": "3b2c1d0e9f8a7b61",
           "type": "inject",
           "z": "fa46cf31be8d751e",
           "name": "100ms Timer",
           "props": [
               {
                   "p": "payload"
               },
               {
                   "p": "topic",
                   "vt": "str"
               }
           ],
           "repeat": "0.1",
           "crontab": "",
           "once": true,
           "onceDelay": "0.1",
           "topic": "",
           "payload": "",
           "payloadType": "date",
           "x": 150,
           "y": 500,
           "wires": [
               [
                   "4c3d2e1f0a9b8c71"
               ]
           ]
       },
       {
           "id": "4c3d2e1f0a9b8c71",
           "type": "function",
           "z": "fa46cf31be8d751e",
           "name": "Aggregate AGV UNS payload",
           "func": "const CONFIG = {\n    fields: [\n        'Position_X',\n        'Position_Y',\n        'Position_Z',\n        'Rotation_Y',\n        'Tray_Height',\n        'State'\n    ],\n    outputTopic: 'Metric/AGV',\n    defaultNumeric: 0,\n    defaultString: ''\n};\n\nlet cache = flow.get('agvDataCache') || { instant: {}, metadata: {} };\nlet lastValues = flow.get('agvLastValues') || {};\nlet lastMetadata = flow.get('agvLastMetadata') || {};\nlet lastTimestamp = flow.get('agvLastTimestamp') || 0;\n\nlet output = {};\nlet candidateTimestamps = [];\n\nfor (const field of CONFIG.fields) {\n    const hasCurrentFrameValue = Object.prototype.hasOwnProperty.call(cache.instant, field);\n    const metadata = hasCurrentFrameValue ? cache.metadata[field] : lastMetadata[field];\n    const currentValue = hasCurrentFrameValue ? cache.instant[field] : lastValues[field];\n    const isStringField = field === 'State';\n\n    output[field + '_Cur'] = currentValue !== undefined\n        ? currentValue\n        : (isStringField ? CONFIG.defaultString : CONFIG.defaultNumeric);\n    output[field + '_Init'] = metadata && metadata.initialValue !== undefined\n        ? metadata.initialValue\n        : (isStringField ? CONFIG.defaultString : CONFIG.defaultNumeric);\n\n    if (hasCurrentFrameValue) {\n        lastValues[field] = cache.instant[field];\n        lastMetadata[field] = cache.metadata[field];\n\n        const rawTime = cache.metadata[field] ? Number(cache.metadata[field].timeStamp) : NaN;\n        if (!Number.isNaN(rawTime)) {\n            candidateTimestamps.push(rawTime);\n        }\n    }\n}\n\nif (candidateTimestamps.length > 0) {\n    lastTimestamp = Math.max(...candidateTimestamps);\n}\n\noutput.timestamp = lastTimestamp;\n\nmsg.topic = CONFIG.outputTopic;\nmsg.payload = output;\n\nflow.set('agvDataCache', { instant: {}, metadata: {} });\nflow.set('agvLastValues', lastValues);\nflow.set('agvLastMetadata', lastMetadata);\nflow.set('agvLastTimestamp', lastTimestamp);\n\nreturn msg;",
           "outputs": 1,
           "timeout": "",
           "noerr": 0,
           "initialize": "",
           "finalize": "",
           "libs": [],
           "x": 460,
           "y": 500,
           "wires": [
               [
                   "6d5e4f3a2b1c0d91",
                   "7c6b5a4d3e2f1098"
               ]
           ]
       },
       {
           "id": "6d5e4f3a2b1c0d91",
           "type": "mqtt out",
           "z": "fa46cf31be8d751e",
           "name": "Publish Metric/AGV",
           "topic": "Metric/AGV",
           "qos": "1",
           "retain": "false",
           "respTopic": "",
           "contentType": "",
           "userProps": "",
           "correl": "",
           "expiry": "",
           "broker": "f2d431c2d2264341",
           "x": 710,
           "y": 400,
           "wires": []
       },
       {
           "id": "7c6b5a4d3e2f1098",
           "type": "debug",
           "z": "fa46cf31be8d751e",
           "name": "Debug AGV payload",
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   • Lathe 1
   Show Lathe 1 flow JSON

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   • Lathe 2
   Show Lathe 2 flow JSON

   [
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Visualizing Workshop Scene

1. In Model, import models exist in the workshop, map UNS data to and create instances for them.
2. Go to Scene and add instances in the workshop to a scene from Instance Library.
3. Move models to their positions in the workshop and set environment lighting and other details.