Digital Twins are a rapidly maturing approach of transferring real assets into the digital domain. Experimentable Digital Twins (EDT) allow to not only visualise a digital model of an asset or display its current state, but allow to interact with the asset within the digital world -with the EDT behaving exactly like the real twin given analogous inputs from its (real or digital) environment. We created the FischerTwin, an EDT of a modular fischertechnik swivel arm robot, as our first

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... r to enable the principles of the FeDiNAR project -displaying undesired or dangerous consequences of real actions in augmented reality. This paper presents the design, development and application of this EDT of a complex cyber-physical system including the steps a) function definition b) collection of requirements, c) structural design of the EDT, d) Implementation of its components and the entire robotic system and e) application of the EDT-highlighting its usage in all relevant product life cycle phases. We thus give answers to system-level questions like How can the EDT be applied throughout a real asset's life cycle?, What are necessary components for the usage of an EDT? and What does the interplay between real and digital twins of a complex cyber-physical system look like?.