Engineering data exchange format for use in industrial automation systems engineering - Automation Markup Language - Part 3: Geometry and kinematics (IEC 62714-3:2017)

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.

Datenaustauschformat für Planungsdaten industrieller Automatisierungssysteme - Automation markup language - Teil 3: Geometrie und Kinematik (IEC 62714-3:2017)

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 (IEC 62714-3:2017)

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.

Oblika izmenjave tehničnih podatkov za uporabo v industrijskem inženiringu avtomatizacije sistemov - Označevalni jezik za avtomatizacijo - 3. del: Geometrija in kinematika (IEC 62714-3:2017)

Ta del standarda IEC 62714 določa integracijo informacij o geometriji in kinematiki za izmenjavo med inženirskimi orodji na območju avtomatiziranega obrata s pomočjo AML-ja.
Ne določa podrobnosti postopka izmenjave podatkov ali uvajalnih zahtev za uvozna/izvozna orodja.

General Information

Status
Published
Publication Date
22-Nov-2017
Current Stage
6060 - National Implementation/Publication (Adopted Project)
Start Date
13-Jun-2017
Due Date
18-Aug-2017
Completion Date
23-Nov-2017

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SLOVENSKI STANDARD
SIST EN 62714-3:2017
01-december-2017
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Engineering data exchange format for use in industrial automation systems engineering -

Automation Markup Language - Part 3: Geometry and kinematics (IEC 62714-3:2017)
Datenaustauschformat für Planungsdaten industrieller Automatisierungssysteme -
Automation markup language - Teil 3: Geometrie und Kinematik (IEC 62714-3:2017)

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 (IEC 62714-3:2017)
Ta slovenski standard je istoveten z: EN 62714-3:2017
ICS:
25.040.40 Merjenje in krmiljenje Industrial process
industrijskih postopkov measurement and control
35.060 Jeziki, ki se uporabljajo v Languages used in
informacijski tehniki in information technology
tehnologiji
35.240.50 Uporabniške rešitve IT v IT applications in industry
industriji
SIST EN 62714-3:2017 en,fr,de

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN 62714-3:2017
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SIST EN 62714-3:2017
EUROPEAN STANDARD EN 62714-3
NORME EUROPÉENNE
EUROPÄISCHE NORM
May 2017
ICS 01.040.01; 25.040.01; 35.240.30
English Version
Engineering data exchange format for use in industrial
automation systems engineering - Automation markup language -
Part 3: Geometry and kinematics
(IEC 62714-3:2017)

Format d'échange de données techniques pour une Datenaustauschformat für Planungsdaten industrieller

utilisation dans l'ingénierie des systèmes d'automatisation Automatisierungssysteme - Automation markup language -

industrielle - Automation markup language - Partie 3: Teil 3: Geometrie und Kinematik

Géométrie et cinématique (IEC 62714-3:2017)
(IEC 62714-3:2017)

This European Standard was approved by CENELEC on 2017-03-01. CENELEC members are bound to comply with the CEN/CENELEC

Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.

Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC

Management Centre or to any CENELEC member.

This European Standard exists in three official versions (English, French, German). A version in any other language made by translation

under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the

same status as the official versions.

CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,

Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,

Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden,

Switzerland, Turkey and the United Kingdom.
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels

© 2017 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.

Ref. No. EN 62714-3:2017 E
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SIST EN 62714-3:2017
EN 62714-3:2017
European foreword

The text of document 65E/497/CDV, future edition 1 of IEC 62714-3, prepared by SC 65E "Devices

and integration in enterprise systems", of IEC/TC 65 "Industrial-process measurement, control and

automation" was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as

EN 62714-3:2017.
The following dates are fixed:
• latest date by which the document has to be implemented at (dop) 2017-12-01
national level by publication of an identical national
standard or by endorsement
(dow) 2020-03-01
• latest date by which the national standards conflicting with
the document have to be withdrawn

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights.

Endorsement notice

The text of the International Standard IEC 62714-3:2017 was approved by CENELEC as a European

Standard without any modification.
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SIST EN 62714-3:2017
EN 62714-3:2017
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications

The following documents, in whole or in part, are normatively referenced in this document and are

indispensable for its application. For dated references, only the edition cited applies. For undated

references, the latest edition of the referenced document (including any amendments) applies.

NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod),

the relevant EN/HD applies.

NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is

available here: www.cenelec.eu.
Publication Year Title EN/HD Year
IEC 62714-1 2014 Engineering data exchange format for EN 62714-1 2014
use in industrial automation systems
engineering - Automation markup
language - Part 1: Architecture and
general requirements
IEC 62714-2 2015 Engineering data exchange format for EN 62714-2 2015
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
W3C XML 1.0 2004 Extensible Markup Language (XML) 1.0 - -
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SIST EN 62714-3:2017
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SIST EN 62714-3:2017
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

Warning! Make sure that you obtained this publication from an authorized distributor.

Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.

® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale
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SIST EN 62714-3:2017
– 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

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SIST EN 62714-3:2017
IEC 62714-3:2017 © IEC 2017 – 3 –

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

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SIST EN 62714-3:2017
– 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

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SIST EN 62714-3:2017
IEC 62714-3:2017 © IEC 2017 – 5 –

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

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SIST EN 62714-3:2017
– 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

1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising

all national electrotechnical committees (IEC National Committees). The object of IEC is to promote

international co-operation on all questions concerning standardization in the electrical and electronic fields. To

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in the subject dealt with may participate in this preparatory work. International, governmental and non-

governmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely

with the International Organization for Standardization (ISO) in accordance with conditions determined by

agreement between the two organizations.

2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international

consensus of opinion on the relevant subjects since each technical committee has representation from all

interested IEC National Committees.

3) IEC Publications have the form of recommendations for international use and are accepted by IEC National

Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC

Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any

misinterpretation by any end user.

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transparently to the maximum extent possible in their national and regional publications. Any divergence

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the latter.

5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity

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6) All users should ensure that they have the la
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