PCo installer provides all the core components to support OPC connectivity, whether it is via OPC DA or OPC UA.
If PCo and OPC Server are installed on the same server, OPC DA is the simplest configuration to make. If PCo and OPC Server are installed on separate servers, OPC UA is preferred, but OPC DA is still supported but requires Microsoft Distributed COM (DCOM) configuration to enable this.
Most customers install OPC Server and PCo on the same server to keep the configuration to keep configuration simple.
Regards, Steve