  In the past few years, there has been a growing significance of interactions
between human workers and automated systems throughout the factory floor.
Wherever static or mobile robots, such as automated guided vehicles, operate
autonomously, a protected environment for personnel and machines must be
provided by, e.g., safe, deterministic and low-latency technologies. Another
trend in this area is the increased use of wireless communication, offering a
high flexibility, modularity, and reduced installation and maintenance efforts.
This work presents a testbed implementation that integrates a wireless
framework, employing IO-Link Wireless (IOLW) and a private 5G cellular network,
to orchestrate a complete example process from sensors and actuators up into
the edge, represented by a programmable logic controller (PLC). Latency
assessments identify the systems cycle time as well as opportunities for
improvement. A worst-case estimation shows the attainable safety function
response time for practical applications in the context of functional safety.
