Every EEROS system consists of a control system, a safety system, and a sequencer. In order to guarantee maximum stability we strongly recommend that you adhere to a strict set of design rules as given below.

signale aus dem cs sollen se bewirken (signal checker).
Seq soll signale in CS setzen (const) oder lesen

It might be tempting to define elaborate actions in a certain safety level. However, in order to keep the safety system clean and simple avoid such practises. Do not define different states in a safety level. If you need to stay a certain amount of time in a safety level use the field nofActivations as described in counter. As soon as you want to model a more complex behaviour use a Sequence.

input not connected, forget to connect nan initial signals = nan, forget to addBlock remove block

Situation: inner states of blocks can be changed only through signals or getter / setter methods. How to implement a slowly changing inertia matrix? You do not want to calculate this matrix out of regular signals with full speed. Solution: use slow time domain for this purpose and change …