Typically a motion device system consists of at least one manipulator and one control unit. Manipulators shown in Figure B.1, Figure B.2, Figure B.3, Figure B.4, Figure B.5, Figure B.6 and Figure B.7 normally have only one control unit.
Figure B.8 shows an example with four motion devices which can be controlled by one control unit.
The motion device system illustrated in Figure B.9 consists of three motion devices and may have one or more control units regarding the motion devices. When a safety PLC is integrated in this motion device system, it can be described as an own instance of a ControllerType. This Instance would have no Reference to an instance of a motion device, because the safety PLC doesn´t control a manipulator. It could however have a Reference to the instantiated SafetyStates.