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• OPC-40010-1 – OPC UA for Robotics - Part 1: Vertical Integration
  7.21.2 TaskControlType definition
  HasComponent Variable TaskProgramName 0:String 0:BaseDataVariableType M 2:ParameterSet 0:HasComponent Variable TaskProgramLoaded 0:Boolean 0:BaseDataVariableType M 2:ParameterSet 0:HasComponent Variable ExecutionMode ExecutionModeEnumeration 0:BaseDataVariableType O TaskModules ... TaskProgramName : The TaskProgramName variable provides a customer given identifier for the task program. Variable TaskProgramLoaded : The TaskProgramLoaded variable is TRUE if a task program is loaded in the task control