We've only used 'watchdog timers' to output an alarm, should communications between a HMI computer & PLC/network. Should the PLC fail to communicate with the HMI, The HMI would output an alarm. Should the HMI fail to communicate with the PLC, the PLC would output an alarm.
In the clamp example above, we do use 'timers' to set alarm outputs shoould it take longer then normal to complete an open/close command. But we don't consider these as watchdogs.