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.

• Trigger Safety Event from Control System
• Remove Blocks when no longer used
• Switch Block Switches Automatically

• Avoid Hidden States in the Safety System
• Do not use Endless Loops in Sequences

• Handle Faults in the Control System
• Comparisons of Safety Level do not Work

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 …

Shutting down a System Properly

Seq soll signale in CS setzen (const) oder lesen