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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.18.2 ControllerType definition
  HasComponent Object TaskControls   0:FolderType M 0:HasComponent Object 2:ParameterSet   0:BaseObjectType O HasSafetyStates Object <SafetyStatesIdentifier>   SafetyStateType OP 0:HasComponent Object Programs 0:FileDirectoryType O 0:HasAddIn ... folder naming and structure of the file system on the controller. The HasSafetyStates reference provides the relationship of safety states to a controller. The InverseName is SafetyStatesOf. The Controls reference