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U. Objet-sémaphore-est-normalisé, 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