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OI P.'ograroroed Accele.' atot' · vice Powe. v i ce Ca 1 i bt Servorfleohan i sr'l P'lI l ,
Prop-·arll l nvocati on AI t.et-F't-ogt-ar(, 1 nvocat. i onAt. t.t--i b'Jt, es C~:tcle Lir(,it ,
Object: Domain Attribute : Class (Auxiliary Deviee) Constraint: Class=Auxiliary Deviee Attribute: Local Control (True, False) Attribute: Deviee Power On (True, False) Attribute : Deviee Calibrated ,
Ce dernier est utilisé pour représenter un sémaphore qui maintient le contrôle des ressources du bras 'ARM'. TI existe dans une configuration Robot-Serveur et plusieurs Clients Dans une telle configuration, le contrôle est exclusif à un seul client. C'est un objet Tocken Semaphore avec un seul jeton. Des noms normalisés concernant les objets MMS conditions événementielles sont définis. R_RVS identifie une condition événementielle scrutée de l'attribut Robot VMD State en quittant l'état EXECUTING à un autre. R_SIV identifie une condition événementielle scrutée quand l'attribut Safety Interlocks Violated change sa valeur de False à True. R_RLC identifie une condition événementielle scrutée quand l' attribut Local Control change de valeur de False à True ,