Despite the large amount of models for different aspects of factory automation systems, many of these models target at individual and in most cases static aspects of the system, such as the geometry or its electric parts. There is a lack of suitable description methods, which integrate these individual models to a behavior model including spatial aspects and the handling of material. Furthermore, it is important that this model keeps the link to the more detailed individual models and is sufficiently formal in order to allow an automated analysis. This paper provides a solution to this problem by introducing a model which addresses both spatial structure and behavior and is based on a thorough mathematical theory. Complementary, we report on a tool realization of the modelling theory and explain how the model supports the development of mechatronic systems.

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