IEC 62714-3:2017

Engineering data exchange format for use in industrial automation systems engineering - Automation markup language - Part 3: Geometry and kinematics

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.

Format d'échange de données techniques pour une utilisation dans l'ingénierie des systèmes d'automatisation industrielle - Automation markup language - Partie 3: Géométrie et cinématique

L’IEC 62714-1:2017 spécifie l’intégration des informations relatives à la géométrie et à la cinématique pour l’échange entre les outils techniques dans la zone d’automatisation de l’installation par le biais du langage AML.

General Information

• Status: Published
• Publication Date: 24-Jan-2017
• ICS: 01.040.01 - Generalities. Terminology. Standardization. Documentation (Vocabularies)
• ICS: 25.040.01 - Industrial automation systems in general
• ICS: 31.180 - Printed circuits and boards
• ICS: 35.240.30 - IT applications in information, documentation and publishing
• Technical Committee: SC 65E - Devices and integration in enterprise systems
• Drafting Committee: WG 9 - TC 65/SC 65E/WG 9
• Current Stage: PPUB - Publication issued
• Start Date: 25-Jan-2017
• Completion Date: 24-Jan-2017

Standards Content (Sample)

IEC 62714-3 ®
Edition 1.0 2017-01
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Engineering data exchange format for use in industrial automation systems
engineering – Automation markup language –
Part 3: Geometry and kinematics

Format d’échange de données techniques pour une utilisation dans l’ingénierie
des systèmes d'automatisation industrielle – Automation markup language –
Partie 3: Géométrie et cinématique
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IEC 62714-3 ®
Edition 1.0 2017-01
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Engineering data exchange format for use in industrial automation systems

engineering – Automation markup language –

Part 3: Geometry and kinematics

Format d’échange de données techniques pour une utilisation dans l’ingénierie

des systèmes d'automatisation industrielle – Automation markup language –

Partie 3: Géométrie et cinématique

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 01.040.01; 25.040.01; 35.240.30 ISBN 978-2-8322-3794-6

– 2 – IEC 62714-3:2017 © IEC 2017

CONTENTS
FOREWORD . 6
INTRODUCTION . 8
1 Scope . 10
2 Normative references . 10
3 Terms, definitions and abbreviations . 10
3.1 Terms and definitions . 10
3.2 Abbreviations . 11
4 Conformity . 11
5 Extensions of AML libraries for geometry and kinematics. 11
5.1 General . 11
5.2 AutomationMLBaseRoleClassLib – RoleClass Frame . 11
5.3 AutomationMLInterfaceClassLib . 11
5.3.1 InterfaceClass COLLADAInterface . 11
5.3.2 InterfaceClass AttachmentInterface . 12
6 Frame attribute . 12
7 Integration of COLLADA documents . 13
8 Attachment of two AML objects . 14
9 Meta information about the COLLADA source tool . 15
Annex A (informative) Referencing methods for geometric/kinematic descriptions . 17
A.1 Integration of a common COLLADA document with explicit referencing . 17
A.1.1 General . 17
A.1.2 Definition of the Frame attribute. 18
A.1.3 Structure of the COLLADA documents . 20
A.1.4 Referencing using URI and fragments without a target and ID . 23
A.1.5 Referencing using URI and fragments including a target without an ID . 23
A.1.6 Referencing using URI without a fragment, including a target and an ID . 24
A.1.7 Referencing using URI and fragments including a target and an ID . 25
A.1.8 Referencing using URI without a fragment, target and ID . 26
A.2 Implicit referencing of COLLADA elements . 27
A.2.1 General . 27
A.2.2 Implicit referencing . 27
A.2.3 Implicit referencing to COLLADA subdocuments . 29
A.2.4 Publishing elements of a COLLADA document in CAEX . 33
A.3 Attachment between objects in CAEX . 35
Annex B (informative) Modelling of kinematic systems and their combination in AML . 41
B.1 General . 41
B.2 Modelling an AML document of a linear unit in CAEX and COLLADA . 41
B.2.1 General . 41
B.2.2 Definition of the visual scene . 41
B.2.3 Definition of the joint . 43
B.2.4 Definition of the kinematic model . 43
B.2.5 Definition of the articulated system . 43
B.2.6 Definition of the kinematic scene . 45
B.2.7 Assembling of the scene . 45
B.2.8 Combination of CAEX and COLLADA into AML . 46

B.3 Modelling an AML document of a robot in CAEX and COLLADA . 47
B.3.1 General . 47
B.3.2 Definition of the visual scene . 48
B.3.3 Definition of joints . 50
B.3.4 Definition of the kinematic model . 51
B.3.5 Definition of the articulated system . 51
B.3.6 Definition of the kinematic scene . 54
B.3.7 Assembling of the scene . 55
B.3.8 Combination of CAEX and COLLADA into AML . 56
B.4 Modelling an AML document of a combined system including a robot and a
linear axis in CAEX and COLLADA . 58
B.5 Modelling an AML document of a gripper connected to robot in CAEX and
COLLADA . 61
B.5.1 General . 61
B.5.2 Definition of the visual scene . 62
B.5.3 Definition of the kinematic system . 63
B.5.4 Assembling of the scene . 71
B.5.5 Combination of CAEX and COLLADA into AML . 72
B.6 Modelling an AML document of a work piece connected to a gripper in
CAEX and COLLADA . 75
B.6.1 General . 75
B.6.2 Implicit upper boundary . 75
B.6.3 Definition of the work piece . 77
B.6.4 Combination of CAEX and COLLADA into AML . 78
Annex C (informative) XML representation of AML libraries . 82
C.1 AutomationMLBaseRoleClassLib . 82
C.2 AutomationMLInterfaceClassLib . 82

Figure 1 – Overview of the engineering data exchange format AML . 8
Figure 2 – Required XML text in case of ISO/PAS 17506 . 16
Figure 3 – Required XML text in case of COLLADA 1.4.1 . 16
Figure A.1 – Decision tree for different referencing methods . 17
Figure A.2 – Two frames represented in the InstanceHierarchy of an AML document . 18
Figure A.3 – XML representation of the AML document . 18
Figure A.4 – Translation and spatially fixed rotation . 19
Figure A.5 – COLLADA scene used in this example . 20
Figure A.6 – Structure and References . 20
Figure A.7 – Content of the COLLADA document cube.dae . 21
Figure A.8 – Content of the COLLADA document red_blue_cubes.dae. 22
Figure A.9 – “RedCube” – Hierarchy of the AML document . 23
Figure A.10 – XML representation of the AML document . 23
Figure A.11 – Referencing the red cube by ID . 23
Figure A.12 – “BlueCube” – Hierarchy of the AML document . 24
Figure A.13 – XML representation of the AML document . 24
Figure A.14 – Referencing the blue cube . 24
Figure A.15 – Hierarchy of the AML document . 24
Figure A.16 – XML representation of the AML document . 25

– 4 – IEC 62714-3:2017 © IEC 2017
Figure A.17 – Referencing the blue cube starting from the element “subpart” . 25
Figure A.18 – Hierarchy of the AML document . 25
Figure A.19 – XML representation of the AML document . 25
Figure A.20 – Referencing the blue cube . 26
Figure A.21 – Hierarchy of the AML document . 26
Figure A.22 – XML representation of the AML document . 26
Figure A.23 – Referencing the complete COLLADA scene . 27
Figure A.24 – Implicit Referencing: Hierarchy of the AML document . 28
Figure A.25 – XML representation of the AML document . 28
Figure A.26 – Structure and relations of referenced COLLADA subdocuments . 29
Figure A.27 – Content of the modified COLLADA document red_blue_cubes.dae . 30
Figure A.28 – Content of the COLLADA document red_cube.dae . 30
Figure A.29 – Content of the COLLADA document blue_cube.dae . 31
Figure A.31 – XML representation of the AML document . 32
Figure A.33 – Additional frame element in COLLADA document . 33
Figure A.34 – Publishing frames: Hierarchy of the AML document . 34
Figure A.35 – XML representation of the AML document . 35
Figure A.36 – Structure for attachments between objects in CAEX . 36
Figure A.37 – Visualization of yellow cube with additional frame . 36
Figure A.38 – COLLADA document of yellow cube with additional frame . 37
Figure A.39 – Hierarchy of the AML document . 38
Figure A.40 – XML representation of the AML document . 39
Figure A.41 – Attachment between geometric AML objects . 40
Figure A.42 – XML representation of the AML document . 40
Figure B.1 – Visualization of the linear unit . 41
Figure B.2 – Definition of the visual scene . 42
Figure B.3 – Definition of the joint . 43
Figure B.4 – Definition of kinematic model . 43
Figure B.5 – Definition of the articulated system library. 44
Figure B.6 – Definition of the kinematic articulated system. 44
Figure B.7 – Definition of the motion articulated system . 45
Figure B.8 – Definition of the kinematic scene . 45
Figure B.9 – Instantiation of the kinematic scene . 46
Figure B.10 – Hierarchy of the AML document . 46
Figure B.11 – XML representation of the AML document . 47
Figure B.13 – Definition of the visual scene . 50
Figure B.14 – Definition of joints . 50
Figure B.15 – Definition of kinematic model . 51
Figure B.16 – Definition of the articulated system library . 51
Figure B.17 – Definition of the kinematic articulated system . 53
Figure B.18 – Definition of the motion articulated system . 54
Figure B.19 – Definition of the kinematic scene. 55
Figure B.20 – Instantiation of the kinematic scene . 56

Figure B.21 – Hierarchy of the AML document . 57
Figure B.22 – XML representation of the AML document . 57
Figure B.24 – Hierarchy of the AML document . 59
Figure B.25 – XML representation of the AML document . 60
Figure B.26 – XML representation of the AML document . 60
Figure B.27 – Visualization of the robot attached to the linear unit . 61
Figure B.30 – Definition of the visual scene . 63
Figure B.31 – Definition of the kinematics . 64
Figure B.32 – Definition of joints . 64
Figure B.33 – Definition of kinematic model . 65
Figure B.34 – Definition of the articulated system . 66
Figure B.35 – Definition of the articulated system . 67
Figure B.36 – Definition of the kinematic scene. 68
Figure B.37 – Definition of the joint dependency using MathML . 68
Figure B.38 – XML representation of the COLLADA document gripper_kinematics.dae . 71
Figure B.39 – XML representation of the COLLADA document gripper.dae . 72
Figure B.40 – Hierarchy of the AML document . 73
Figure B.41 – XML representation of the AML document . 74
Figure B.42 – XML representation of the AML document . 75
Figure B.43 – Visualization of the robot on a linear unit and attached gripper . 75
Figure B.44 – Example for implicit upper boundary . 76
Figure B.45 – Structure for attachments between objects in CAEX . 76
Figure B.46 – Visualization of the work piece with additional frame . 77
Figure B.48 – Hierarchy of the AML document . 79
Figure B.49 – XML representation of the AML document . 81
Figure B.50 – Attachment between geometric AML objects . 81
Figure B.51 – XML representation of the AML document . 81
Figure C.1 – XML representation of AML libraries AutomationMLBaseRoleClassLib . 82
Figure C.2 – XML representation of AML libraries AutomationMLInterfaceClassLib . 83

Table 1 – Abbreviations . 11
Table 2 – RoleClass Frame . 11
Table 3 – InterfaceClass COLLADAInterface . 12
Table 4 – InterfaceClass AttachmentInterface . 12
Table 5 – Attribute “Frame” . 13
Table 6 – Sub-attributes of the attribute “Frame” . 13
Table 7 – Rules for resolving document and entry point . 14
Table 8 – Meta information about the COLLADA source tool . 16

– 6 – IEC 62714-3:2017 © IEC 2017
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ENGINEERING DATA EXCHANGE FORMAT FOR USE IN
INDUSTRIAL AUTOMATION SYSTEMS ENGINEERING –
AUTOMATION MARKUP LANGUAGE –
Part 3: Geometry and kinematics

FOREWORD
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
International Standard IEC 62714-3 has been prepared by subcommittee 65E: Devices and
integration in enterprise systems, of IEC technical committee 65: Industrial-process
measurement, control and automation.
The text of this standard is based on the following documents:
CDV Report on voting
65E/497/CDV 65E/508/RVC
Full information on the voting for the approval of this International Standard can be found in
the report on voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.

A list of all parts in the IEC 62714 series, published under the general title Engineering data
exchange format for use in industrial automation systems engineering – Automation markup
language, can be found on the IEC website.
The committee has decided that the contents of this document will remain unchanged until the
stability date indicated on the IEC website under "http://webstore.iec.ch" in the data related to
the specific document. At this date, the document will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
…
– 8 – IEC 62714-3:2017 © IEC 2017
INTRODUCTION
The data exchange format defined in IEC 62714 (Automation Markup Language, AML) is an
XML schema based data format and has been developed in order to support the data
exchange between engineering tools in a heterogeneous engineering tool landscape.
IEC 62714-1 gives an overview about the format.
The goal of AML is to interconnect engineering tools from the existing heterogeneous tool
landscape in their different disciplines, e.g. mechanical plant engineering, electrical design,
process engineering, process control engineering, HMI development, PLC programming, robot
programming etc.
AML stores engineering information following the object oriented paradigm and allows
modelling of physical and logical plant components as data objects encapsulating different
aspects. An object may consist of other sub-objects and may itself be part of a larger
composition or aggregation. Typical objects in plant automation comprise information on
topology, geometry, kinematics and logic, whereas logic comprises sequencing, behaviour
and control.
AML combines existing industry data formats that are designed for the storage and exchange
of different aspects of engineering information. These data formats are used on “as-is” basis
within their own specifications and are not branched for AML needs.
The core of AML is the top-level data format CAEX that connects the different data formats.
Therefore, AML has an inherent distributed document architecture.
Figure 1 illustrates the basic AML architecture and the distribution of topology, geometry,
kinematic and logic information.
Automation Markup Language
Engineering data
COLLADA
CAEX IEC 62424
Geometry
Top level format
Kinematics
Object A
Plant topology
information Object A
1 InIniitt
PLCopen XML
•Plants
Object A Step 1
•Cells
Behaviour
•Components Sequencing
End
•Attributes
Object A
n
•Interfaces
Further XML Standard format
•Relations
•References
Further aspects of
engineering information
Figure 1 – Overview of the engineering data exchange format AML
Due to the different aspects of AML, IEC 62714 consists of different parts focussing on
different aspects.
• IEC 62714-1: Architecture and general requirements

This part specifies the general AML architecture, the modelling of engineering data,
classes, instances, relations, references, hierarchies, basic AML libraries and extended
AML concepts.
• IEC 62714-2: Role class libraries
This part specifies additional AML libraries.
• IEC 62714-3: Geometry and kinematics
This part specifies the modelling of geometry and kinematics information.
Further parts may be added in the future in order to interconnect further data standards to
AML.
Clause 5 describes the geometry related extensions of the role class libraries.
Clause 6 describes the frame attribute which can be used to represent the geometric position
of an InternalElement, InstanceHierarchy, SystemUnitClass, or SystemUnitClassLibrary with
respect to another CAEX Object.
Clause 7 gives a normative description regarding referencing COLLADA documents.
Clause 8 specifies the normative provisions for the attachment of two geometric AML objects.
Clause 9 defines how to store meta informations about the source tool directly into the
COLLADA document.
Annex A describes the referencing methods for geometric and kinematic models.
Annex B provides an example for modelling of kinematic systems and their combination in
AML.
Annex C gives an informative XML representation of the libraries defined in this part of
IEC 62714.
– 10 – IEC 62714-3:2017 © IEC 2017
ENGINEERING DATA EXCHANGE FORMAT FOR USE IN
INDUSTRIAL AUTOMATION SYSTEMS ENGINEERING –
AUTOMATION MARKUP LANGUAGE –
Part 3: Geometry and kinematics

1 Scope
This part of IEC 62714 specifies the integration of geometry and kinematics information for
the exchange between engineering tools in the plant automation area by means of AML.
It does not define details of the data exchange procedure or implementation requirements for
the import/export tools.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their
content constitutes requirements of this document. For dated references, only the edition
cited applies. For undated references, the latest edition of the referenced document (including
any amendments) applies.
IEC 62714-1:2014, Engineering data exchange format for use in industrial automation
systems engineering – Automation markup language – Part 1: Architecture and general
requirements
IEC 62714-2:2015, Engineering data exchange format for use in industrial automation
systems engineering – Automation markup language – Part 2: Role class libraries
ISO/PAS 17506, Industrial automation systems and integration – COLLADA digital asset
schema specification for 3D visualization of industrial data
COLLADA 1.4.1: March 2008 COLLADA – Digital Asset Schema Release 1.4.1
(available at )
Extensible Markup Language (XML) 1.0:2004, W3C Recommendation
(available at )
3 Terms, definitions and abbreviations
3.1 Terms and definitions
For the purposes of this document, the terms and definitions given in IEC 62714-1:2014 and
of IEC 62714-2:2015 and the following apply.
ISO and IEC maintain terminological databases for use in standardization at the following
addresses:
• IEC Electropedia: available at http://www.electropedia.org/ [access on 26th September
2016]
• ISO Online browsing platform: available at http://www.iso.org/obp [access on 26th
September 2016]
3.1.1
SID path
reference of type sidref_type to an arbitrary element within a COLLADA document according
to ISO/PAS 17506 or COLLADA 1.4.1
3.2 Abbreviations
For the purposes of this document, the abbreviations of IEC 62714-1:2014 and of
IEC 62714-2:2015 apply as well as the abbreviations listed in Table 1.
Table 1 – Abbreviations
SCARA Selective Compliance Assembly Robot Arm
SID Scoped Identifier
4 Conformity
To claim conformity to the present document with respect to the support of AML, the
requirements of Clauses 5, 6, 7, 8 and 9 shall be fulfilled. In the scope of AML, a COLLADA
document shall conform to the specification of ISO/PAS 17506 or COLLADA 1.4.1.
5 Extensions of AML libraries for geometry and kinematics
5.1 General
Clause 5 defines extensions of the standard AML RoleClasses and standard AML
InterfaceClasses. These classes are part of the AML standard libraries and a specific
extension of IEC 62714-1 for this part of IEC 62714. All described attributes are part of the
standard libraries and may be removed in the InstanceHierarchy if not needed.
5.2 AutomationMLBaseRoleClassLib – RoleClass Frame
The RoleClass “Frame” shall be used as specified in Table 2.
Table 2 – RoleClass Frame
Class name Frame
Description This role denotes a Cartesian right handed coordinate system.
Parent class AutomationMLBaseRoleClassLib/AutomationMLBaseRole
Path for element reference AutomationMLBaseRoleClassLib/AutomationMLBaseRole/Frame

NOTE 1 An AML object referencing the RoleClass “Frame” is useable to define reference coordinate systems like
attachment points.
NOTE 2 To define reference coordinate systems like attachment points an AML object referencing the RoleClass
“Frame” is useable.
5.3 AutomationMLInterfaceClassLib
5.3.1 InterfaceClass COLLADAInterface
The InterfaceClass “COLLADAInterface” shall be used as specified in Table 3.

– 12 – IEC 62714-3:2017 © IEC 2017
Table 3 – InterfaceClass COLLADAInterface
Class name COLLADAInterface
The InterfaceClass “COLLADAInterface” shall be used in order to reference external
Description COLLADA documents and to publish interfaces that are defined inside an external
COLLADA document.
Parent class AutomationMLInterfaceClassLib/AutomationMLBaseInterface/ExternalDataConnector
Path for
AutomationMLInterfaceClassLib/AutomationMLBaseInterface/ExternalDataConnector/
element
COLLADAInterface
reference
The attribute “refType” specifies whether the
refType referenced COLLADA document has an explicit or
(AttributeDataType=”xs:string”) implicit character. The allowed values are “explicit”
or “implicit”. The attribute is mandatory.
Attributes
The attribute “target” specifies the SID path of a
target (AttributeDataType=”xs:token”) COLLADA element within the referenced
document. The attribute is optional.

NOTE The InterfaceClass “COLLADAInterface” additionally inherits the attribute “refURI” from the parent
InterfaceClass “ExternalDataConnector”.
5.3.2 InterfaceClass AttachmentInterface
The InterfaceClass “AttachmentInterface” shall be used as specified in Table 4.
Table 4 – InterfaceClass AttachmentInterface
Class name
AttachmentInterface
The InterfaceClass “AttachmentInterface” specifies an interface for geometric or kinematic
Description
links between AML objects with RoleClass Frame.
Parent class AutomationMLInterfaceClassLib/AutomationMLBaseInterface
Path for element AutomationMLInterfaceClassLib/AutomationMLBaseInterface/AttachmentInterface
reference
6 Frame attribute
An InternalElement or a SystemUnitClass may require a frame attribute that represents its
geometric position in relation to other objects. For this, the following provisions apply:
• Each frame shall be based on a three dimensional, orthogonal, right-handed coordinate
system.
• The elements InstanceHierarchy and SystemUnitClassLib specify a three dimensional,
orthogonal, right-handed coordinate system with standard basis. The positive z axis is
considered upward, the positive x direction defines the right axis and the negative y
direction defines the forward axis.
• The relative translations x, y and z as well as the rotations rx, ry and rz shall be specified
as sub-attributes in an AML attribute „Frame“ defined in Table 5 and Table 6. The relative
translations x, y and z shall be given in relation to the parent coordinate System specified
in the previous point. The rotations rx, ry and rz shall be executed in the order rx, ry and rz
with respect to the fixed axes of the parent coordinate System. The origin of the translated
Frame shall retain its position (x, y, z) during the spatially-fixed rotation. The attribute
“Frame” shall affect its containing AML object and all its children.
NOTE This means, that the point of rotation rotates whereas the frame position remains unchanged. This
avoids double changes.
• If the attribute “Frame” is not specified, the default values of x, y, z, rx, ry and rz shall be 0.

• If the attribute “Frame” is specified, all sub-attributes x, y, z, rx, ry and rz shall be listed.
Any unused sub-attribute shall have the default value 0.
The attribute “Frame” shall be used as complex attribute specified in Table 5 and Table 6. An
example is given in A.1.2.
Table 5 – Attribute “Frame”
Attribute AttributeDataType Description
Frame This attribute has no The attribute “Frame” shall be used as structure element for the
AttributeDataType since storage of the sub-attributes specified in Table 6.
attribute has no value.
Table 6 – Sub-attributes of the attribute “Frame”
Attribute AttributeDataType Description
x xs:double The attribute “x” shall be used to specify the relative position in
meters along the x axis of the coordinate system specified by the
parent element. The value of attribute “Unit” of the CAEX element
“Attribute” shall be “m”.
y xs:double The attribute “y” shall be used to specify the relative position in
meters along the y axis of the coordinate system specified by the
parent element. The value of attribute “Unit” of the CAEX element
“Attribute” shall be “m”.
z xs:double The attribute “z” shall be used to specify the relative position in
meters along the z axis of the coordinate system specified by the
parent element. The value of attribute “Unit” of the CAEX element
“Attribute” shall be “m”.
rx xs:double The attribute “rx” shall be used to specify the relative rotation in
degrees around the x axis of the coordinate system specified by
the parent element. The value of attribute “Unit” of the CAEX
element “Attribute” shall be “deg”.
ry xs:double The attribute “ry” shall be used to specify the relative rotation in
degrees around the y axis of the coordinate system specified by
the parent element. The value of attribute “Unit” of the CAEX
element “Attribute” shall be “deg”.
rz xs:double The attribute “rz” shall be used to specify the relative rotation in
degrees around the z axis of the coordinate system s
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