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Syntactic interface between the safety controller and the cobot welding cell DTs.
| Property | Channel datatype | Monitored | Controlled |
|---|---|---|---|
| Safety mode | Mode = {normal, pflim, … } | ● | ● |
| Robot location | Place = {atTable, inCell, … } | ● | |
| Welder activity | Task = {idle, welding, … } | ● | ● |
| Robot activity | Task = {idle, exchange workpiece, … } | ● | ● |
| Range detector | Range = {far, near, close} | ● | |
| Light barrier | Boolean | ● | |
| Notification | AlarmSignal = {leave cell, leave workbench, … } | ● |
