Cyber-Physical Systems are designed and developed using multi-disciplinary teams that require handovers from one discipline to another. These handovers often involve text documents written in natural language, which can be imprecise, ambiguous, and lead to errors. To address this issue, we created a textual Domain Specific Language with immediate graphical feedback. This language allows mechanical and mechatronic engineers to communicate more effectively during handovers by providing a formalized system description that can be easily visualized in real-time. Our approach also incorporates multiple industry standards, which enables bi-directional navigation between languages, making it easier for teams to collaborate across different disciplines and prevent errors from being made. We applied and evaluated our approach in relation to medical robots at Philips IGT.