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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.21.2 TaskControlType definition
  HasComponent Variable TaskProgramLoaded 0:Boolean 0:BaseDataVariableType M 2:ParameterSet 0:HasComponent Variable ExecutionMode ExecutionModeEnumeration 0:BaseDataVariableType O TaskModules 0:Organizes Object <TaskModule> TaskModuleType OP The ComponentName property ... TRUE if a task program is loaded in the task control, FALSE otherwise. Variable ExecutionMode : The ExecutionMode variable tells how the task control executes the task program (see 10.3 ). Controls