BS EN 62714-3:2017
$215.11
Engineering data exchange format for use in industrial automation systems engineering. Automation markup language – Geometry and kinematics
Published By | Publication Date | Number of Pages |
BSI | 2017 | 90 |
IEC 62714-3:2017 specifies the integration of geometry and kinematics information for the exchange between engineering tools in the plant automation area by means of AML.
PDF Catalog
PDF Pages | PDF Title |
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2 | National foreword |
5 | Annex ZA(normative)Normative references to international publicationswith their corresponding European publications |
7 | English CONTENTS |
11 | FOREWORD |
13 | INTRODUCTION Figures Figure 1 – Overview of the engineering data exchange format AML |
15 | 1 Scope 2 Normative references 3 Terms, definitions and abbreviations 3.1 Terms and definitions |
16 | 3.2 Abbreviations 4 Conformity 5 Extensions of AML libraries for geometry and kinematics 5.1 General 5.2 AutomationMLBaseRoleClassLib – RoleClass Frame 5.3 AutomationMLInterfaceClassLib 5.3.1 InterfaceClass COLLADAInterface Tables Table 1 – Abbreviations Table 2 – RoleClass Frame |
17 | 5.3.2 InterfaceClass AttachmentInterface 6 Frame attribute Table 3 – InterfaceClass COLLADAInterface Table 4 – InterfaceClass AttachmentInterface |
18 | 7 Integration of COLLADA documents Table 5 – Attribute “Frame” Table 6 – Sub-attributes of the attribute “Frame” |
19 | 8 Attachment of two AML objects Table 7 – Rules for resolving document and entry point |
20 | 9 Meta information about the COLLADA source tool |
21 | 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 |
22 | Annex A (informative) Referencing methods for geometric/kinematic descriptions A.1 Integration of a common COLLADA document with explicit referencing A.1.1 General Figure A.1 – Decision tree for different referencing methods |
23 | 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 |
24 | Figure A.4 – Translation and spatially fixed rotation |
25 | A.1.3 Structure of the COLLADA documents Figure A.5 – COLLADA scene used in this example Figure A.6 – Structure and References |
26 | Figure A.7 – Content of the COLLADA document cube.dae |
27 | Figure A.8 – Content of the COLLADA document red_blue_cubes.dae |
28 | 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 |
29 | 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 |
30 | 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 |
31 | 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 |
32 | A.2 Implicit referencing of COLLADA elements A.2.1 General A.2.2 Implicit referencing Figure A.23 – Referencing the complete COLLADA scene |
33 | Figure A.24 – Implicit Referencing: Hierarchy of the AML document Figure A.25 – XML representation of the AML document |
34 | A.2.3 Implicit referencing to COLLADA subdocuments Figure A.26 – Structure and relations of referenced COLLADA subdocuments |
35 | Figure A.27 – Content of the modified COLLADA document red_blue_cubes.dae Figure A.28 – Content of the COLLADA document red_cube.dae |
36 | Figure A.29 – Content of the COLLADA document blue_cube.dae |
37 | Figure A.31 – XML representation of the AML document |
38 | A.2.4 Publishing elements of a COLLADA document in CAEX Figure A.33 – Additional frame element in COLLADA document |
39 | Figure A.34 – Publishing frames: Hierarchy of the AML document |
40 | A.3 Attachment between objects in CAEX Figure A.35 – XML representation of the AML document |
41 | Figure A.36 – Structure for attachments between objects in CAEX Figure A.37 – Visualization of yellow cube with additional frame |
42 | Figure A.38 – COLLADA document of yellow cube with additional frame |
43 | Figure A.39 – Hierarchy of the AML document |
44 | Figure A.40 – XML representation of the AML document |
45 | Figure A.41 – Attachment between geometric AML objects Figure A.42 – XML representation of the AML document |
46 | Annex B (informative) Modelling of kinematic systems and their combination in AML B.1 General B.2 Modelling an AML document of a linear unit in CAEX and COLLADA B.2.1 General B.2.2 Definition of the visual scene Figure B.1 – Visualization of the linear unit |
47 | Figure B.2 – Definition of the visual scene |
48 | 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 |
49 | Figure B.5 – Definition of the articulated system library Figure B.6 – Definition of the kinematic articulated system |
50 | 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 |
51 | 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 |
52 | B.3 Modelling an AML document of a robot in CAEX and COLLADA B.3.1 General Figure B.11 – XML representation of the AML document |
53 | B.3.2 Definition of the visual scene |
55 | B.3.3 Definition of joints Figure B.13 – Definition of the visual scene Figure B.14 – Definition of joints |
56 | 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 |
58 | Figure B.17 – Definition of the kinematic articulated system |
59 | B.3.6 Definition of the kinematic scene Figure B.18 – Definition of the motion articulated system |
60 | B.3.7 Assembling of the scene Figure B.19 – Definition of the kinematic scene |
61 | B.3.8 Combination of CAEX and COLLADA into AML Figure B.20 – Instantiation of the kinematic scene |
62 | Figure B.21 – Hierarchy of the AML document Figure B.22 – XML representation of the AML document |
63 | B.4 Modelling an AML document of a combined system including a robot and a linear axis in CAEX and COLLADA |
64 | Figure B.24 – Hierarchy of the AML document |
65 | Figure B.25 – XML representation of the AML document Figure B.26 – XML representation of the AML document |
66 | B.5 Modelling an AML document of a gripper connected to robot in CAEX and COLLADA B.5.1 General Figure B.27 – Visualization of the robot attached to the linear unit |
67 | B.5.2 Definition of the visual scene |
68 | B.5.3 Definition of the kinematic system Figure B.30 – Definition of the visual scene |
69 | Figure B.31 – Definition of the kinematics Figure B.32 – Definition of joints |
70 | Figure B.33 – Definition of kinematic model |
71 | Figure B.34 – Definition of the articulated system |
72 | Figure B.35 – Definition of the articulated system |
73 | Figure B.36 – Definition of the kinematic scene Figure B.37 – Definition of the joint dependency using MathML |
76 | B.5.4 Assembling of the scene Figure B.38 – XML representation of the COLLADA document gripper_kinematics.dae |
77 | B.5.5 Combination of CAEX and COLLADA into AML Figure B.39 – XML representation of the COLLADA document gripper.dae |
78 | Figure B.40 – Hierarchy of the AML document |
79 | Figure B.41 – XML representation of the AML document |
80 | B.6 Modelling an AML document of a work piece connected to a gripper in CAEX and COLLADA 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 |
81 | Figure B.44 – Example for implicit upper boundary Figure B.45 – Structure for attachments between objects in CAEX |
82 | B.6.3 Definition of the work piece Figure B.46 – Visualization of the work piece with additional frame |
83 | B.6.4 Combination of CAEX and COLLADA into AML |
84 | Figure B.48 – Hierarchy of the AML document |
86 | 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 |
87 | Annex C (informative) XML representation of AML libraries C.1 AutomationMLBaseRoleClassLib C.2 AutomationMLInterfaceClassLib Figure C.1 – XML representation of AML libraries AutomationMLBaseRoleClassLib |
88 | Figure C.2 – XML representation of AML libraries AutomationMLInterfaceClassLib |