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eLibrary > BS EN 62714-3:2017 Engineering data exchange format for use in industrial automation systems engineering. Automation markup language - Geometry and kinematics >

BS EN 62714-3:2017 Engineering data exchange format for use in industrial automation systems engineering. Automation markup language - Geometry and kinematics, 2017

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BS EN 62714-3:2017 Engineering data exchange format for use in industrial automation systems engineering. Automation markup language - Geometry and kinematics, 2017

National foreword
Annex ZA(normative)Normative references to international publicationswith their corresponding European publications
English [Go to Page]
CONTENTS
FOREWORD
INTRODUCTION
Figures [Go to Page]
Figure 1 – Overview of the engineering data exchange format AML
1 Scope
2 Normative references
3 Terms, definitions and abbreviations [Go to Page]
3.1 Terms and definitions
3.2 Abbreviations
4 Conformity
5 Extensions of AML libraries for geometry and kinematics [Go to Page]
5.1 General
5.2 AutomationMLBaseRoleClassLib – RoleClass Frame
5.3 AutomationMLInterfaceClassLib [Go to Page]
5.3.1 InterfaceClass COLLADAInterface
Tables [Go to Page]
Table 1 – Abbreviations
Table 2 – RoleClass Frame [Go to Page]
5.3.2 InterfaceClass AttachmentInterface
6 Frame attribute [Go to Page]
Table 3 – InterfaceClass COLLADAInterface
Table 4 – InterfaceClass AttachmentInterface
7 Integration of COLLADA documents [Go to Page]
Table 5 – Attribute “Frame”
Table 6 – Sub-attributes of the attribute “Frame”
8 Attachment of two AML objects [Go to Page]
Table 7 – Rules for resolving document and entry point
9 Meta information about the COLLADA source tool [Go to Page]
Figure 2 – Required XML text in case of ISO/PAS 17506
Figure 3 – Required XML text in case of COLLADA 1.4.1
Table 8 – Meta information about the COLLADA source tool
Annex A (informative) Referencing methods for geometric/kinematic descriptions [Go to Page]
A.1 Integration of a common COLLADA document with explicit referencing [Go to Page]
A.1.1 General
Figure A.1 – Decision tree for different referencing methods [Go to Page]
A.1.2 Definition of the Frame attribute
Figure A.2 – Two frames represented in the InstanceHierarchy of an AML document
Figure A.3 – XML representation of the AML document
Figure A.4 – Translation and spatially fixed rotation [Go to Page]
A.1.3 Structure of the COLLADA documents
Figure A.5 – COLLADA scene used in this example
Figure A.6 – Structure and References
Figure A.7 – Content of the COLLADA document cube.dae
Figure A.8 – Content of the COLLADA document red_blue_cubes.dae [Go to Page]
A.1.4 Referencing using URI and fragments without a target and ID
A.1.5 Referencing using URI and fragments including a target without an ID
Figure A.9 – “RedCube” – Hierarchy of the AML document
Figure A.10 – XML representation of the AML document
Figure A.11 – Referencing the red cube by ID [Go to Page]
A.1.6 Referencing using URI without a fragment, including a target and an ID
Figure A.12 – “BlueCube” – Hierarchy of the AML document
Figure A.13 – XML representation of the AML document
Figure A.14 – Referencing the blue cube
Figure A.15 – Hierarchy of the AML document [Go to Page]
A.1.7 Referencing using URI and fragments including a target and an ID
Figure A.16 – XML representation of the AML document
Figure A.17 – Referencing the blue cube starting from the element “subpart”
Figure A.18 – Hierarchy of the AML document
Figure A.19 – XML representation of the AML document [Go to Page]
A.1.8 Referencing using URI without a fragment, target and ID
Figure A.20 – Referencing the blue cube
Figure A.21 – Hierarchy of the AML document
Figure A.22 – XML representation of the AML document
A.2 Implicit referencing of COLLADA elements [Go to Page]
A.2.1 General
A.2.2 Implicit referencing
Figure A.23 – Referencing the complete COLLADA scene
Figure A.24 – Implicit Referencing: Hierarchy of the AML document
Figure A.25 – XML representation of the AML document [Go to Page]
A.2.3 Implicit referencing to COLLADA subdocuments
Figure A.26 – Structure and relations of referenced COLLADA subdocuments
Figure A.27 – Content of the modified COLLADA document red_blue_cubes.dae
Figure A.28 – Content of the COLLADA document red_cube.dae
Figure A.29 – Content of the COLLADA document blue_cube.dae
Figure A.31 – XML representation of the AML document [Go to Page]
A.2.4 Publishing elements of a COLLADA document in CAEX
Figure A.33 – Additional frame element in COLLADA document
Figure A.34 – Publishing frames: Hierarchy of the AML document
A.3 Attachment between objects in CAEX
Figure A.35 – XML representation of the AML document
Figure A.36 – Structure for attachments between objects in CAEX
Figure A.37 – Visualization of yellow cube with additional frame
Figure A.38 – COLLADA document of yellow cube with additional frame
Figure A.39 – Hierarchy of the AML document
Figure A.40 – XML representation of the AML document
Figure A.41 – Attachment between geometric AML objects
Figure A.42 – XML representation of the AML document
Annex B (informative) Modelling of kinematic systems and their combination in AML [Go to Page]
B.1 General
B.2 Modelling an AML document of a linear unit in CAEX and COLLADA [Go to Page]
B.2.1 General
B.2.2 Definition of the visual scene
Figure B.1 – Visualization of the linear unit
Figure B.2 – Definition of the visual scene [Go to Page]
B.2.3 Definition of the joint
B.2.4 Definition of the kinematic model
B.2.5 Definition of the articulated system
Figure B.3 – Definition of the joint
Figure B.4 – Definition of kinematic model
Figure B.5 – Definition of the articulated system library
Figure B.6 – Definition of the kinematic articulated system [Go to Page]
B.2.6 Definition of the kinematic scene
B.2.7 Assembling of the scene
Figure B.7 – Definition of the motion articulated system
Figure B.8 – Definition of the kinematic scene [Go to Page]
B.2.8 Combination of CAEX and COLLADA into AML
Figure B.9 – Instantiation of the kinematic scene
Figure B.10 – Hierarchy of the AML document
B.3 Modelling an AML document of a robot in CAEX and COLLADA [Go to Page]
B.3.1 General
Figure B.11 – XML representation of the AML document [Go to Page]
B.3.2 Definition of the visual scene
B.3.3 Definition of joints
Figure B.13 – Definition of the visual scene
Figure B.14 – Definition of joints [Go to Page]
B.3.4 Definition of the kinematic model
B.3.5 Definition of the articulated system
Figure B.15 – Definition of kinematic model
Figure B.16 – Definition of the articulated system library
Figure B.17 – Definition of the kinematic articulated system [Go to Page]
B.3.6 Definition of the kinematic scene
Figure B.18 – Definition of the motion articulated system [Go to Page]
B.3.7 Assembling of the scene
Figure B.19 – Definition of the kinematic scene [Go to Page]
B.3.8 Combination of CAEX and COLLADA into AML
Figure B.20 – Instantiation of the kinematic scene
Figure B.21 – Hierarchy of the AML document
Figure B.22 – XML representation of the AML document
B.4 Modelling an AML document of a combined system including a robot and a linear axis in CAEX and COLLADA
Figure B.24 – Hierarchy of the AML document
Figure B.25 – XML representation of the AML document
Figure B.26 – XML representation of the AML document
B.5 Modelling an AML document of a gripper connected to robot in CAEX and COLLADA [Go to Page]
B.5.1 General
Figure B.27 – Visualization of the robot attached to the linear unit [Go to Page]
B.5.2 Definition of the visual scene
B.5.3 Definition of the kinematic system
Figure B.30 – Definition of the visual scene
Figure B.31 – Definition of the kinematics
Figure B.32 – Definition of joints
Figure B.33 – Definition of kinematic model
Figure B.34 – Definition of the articulated system
Figure B.35 – Definition of the articulated system
Figure B.36 – Definition of the kinematic scene
Figure B.37 – Definition of the joint dependency using MathML [Go to Page]
B.5.4 Assembling of the scene
Figure B.38 – XML representation of the COLLADA document gripper_kinematics.dae [Go to Page]
B.5.5 Combination of CAEX and COLLADA into AML
Figure B.39 – XML representation of the COLLADA document gripper.dae
Figure B.40 – Hierarchy of the AML document
Figure B.41 – XML representation of the AML document
B.6 Modelling an AML document of a work piece connected to a gripper in CAEX and COLLADA [Go to Page]
B.6.1 General
B.6.2 Implicit upper boundary
Figure B.42 – XML representation of the AML document
Figure B.43 – Visualization of the robot on a linear unit and attached gripper
Figure B.44 – Example for implicit upper boundary
Figure B.45 – Structure for attachments between objects in CAEX [Go to Page]
B.6.3 Definition of the work piece
Figure B.46 – Visualization of the work piece with additional frame [Go to Page]
B.6.4 Combination of CAEX and COLLADA into AML
Figure B.48 – Hierarchy of the AML document
Figure B.49 – XML representation of the AML document
Figure B.50 – Attachment between geometric AML objects
Figure B.51 – XML representation of the AML document
Annex C (informative) XML representation of AML libraries [Go to Page]
C.1 AutomationMLBaseRoleClassLib
C.2 AutomationMLInterfaceClassLib
Figure C.1 – XML representation of AML libraries AutomationMLBaseRoleClassLib
Figure C.2 – XML representation of AML libraries AutomationMLInterfaceClassLib [Go to Page]

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