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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.7.2 SafetyStateType definition
  InstanceDeclarations of that Node 0:HasComponent Object EmergencyStopFunctions   0:FolderType O 0:HasComponent Object ProtectiveStopFunctions   0:FolderType O 0:HasComponent Object 2:ParameterSet   0:BaseObjectType M 0:HasProperty Variable ... NodeClass BrowseName DataType TypeDefinition Others EmergencyStopFunctions 0:HasComponent Object <EmergencyStopFunctionIdentifier> EmergencyStopFunctionType MP ProtectiveStopFunctions 0:HasComponent Object <ProtectiveStopFunctionIdentifier>   ProtectiveStopFunctionType MP 2:ParameterSet 0:HasComponent Variable OperationalMode OperationalModeEnumeration