Support OPC UA Services
There are some names for the "UA Extended Services". The OPC Foundation names them "Companion Specifications".
The German industry VDMA names well known services as Euromap, UMATI or PackML.
Tani is offering an OPC UA Modeler. It can handle any machine model. The mldeler reads the XML files for the respective specification. You will choose the parts of the machine. The modeler will create the final machine model as XML file. The Tani PLC Engine directly can handle the created machine models. But the model can be used in other applications also. The XML files and their details are fully specified.
As alternative you can use OPC UA Modeler from other companies. The need the capability of reading and writing XML files also. Often this is true.