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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.7.2 SafetyStateType definition
  ParameterSet 0:HasComponent Variable OperationalMode OperationalModeEnumeration 0:BaseDataVariableType M 2:ParameterSet 0:HasComponent Variable EmergencyStop 0:Boolean 0:BaseDataVariableType M 2:ParameterSet 0:HasComponent Variable ProtectiveStop 0:Boolean 0:BaseDataVariableType ... information about the current operational mode. Allowed values are described in OperationalModeEnumeration ( 10.4 ). The EmergencyStop variable is TRUE if one or more of the emergency stop functions in the robot