As described in Section the VisionAutomaticMode SubStateMachine of the Operational state can be entered in two different ways:

Figure 25 shows these ways; for clarity, all other transitions have been left out. The transitions from the Preoperational state are shown as solid lines as they are actually modelled in the type definition. The transitions from the Error state are shown in dashed lines as they are not explicitly modelled but only “virtual” transitions decided by the server internally.


Figure 25 – Entering the VisionAutomaticModeStateMachine SubStateMachine