1、Engineering data exchange format for use in industrial automation systems engineering Automation markup languagePart 3: Geometry and kinematics (IEC 62714-3:2017)BS EN 62714-3:2017BSI Standards PublicationWB11885_BSI_StandardCovs_2013_AW.indd 1 15/05/2013 15:06EUROPEAN STANDARD NORME EUROPENNE EUROP
2、ISCHE NORM EN 62714-3 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 dchange de donnes techniques pour une util
3、isation dans lingnierie des systmes dautomatisation industrielle - Automation markup language - Partie 3: Gomtrie et cinmatique (IEC 62714-3:2017) Datenaustauschformat fr Planungsdaten industrieller Automatisierungssysteme - Automation markup language - Teil 3: Geometrie und Kinematik (IEC 62714-3:2
4、017) 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 bibliograph
5、ical 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 responsib
6、ility 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,
7、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 El
8、ectrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr 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
9、. Ref. No. EN 62714-3:2017 E National forewordThis British Standard is the UK implementation of EN 62714-3:2017. It is identical to IEC 62714-3:2017.The UK participation in its preparation was entrusted to Technical Committee AMT/7, Industrial communications: process measurement and control, includi
10、ng fieldbus.A list of organizations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2017 Published b
11、y BSI Standards Limited 2017ISBN 978 0 580 90492 9ICS 01.040.01; 25.040.01; 35.240.30Compliance with a British Standard cannot confer immunity from legal obligations. This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 October 2017.Amendments/
12、corrigenda issued since publicationDate Text affectedBRITISH STANDARDBS EN 62714-3:2017EUROPEAN STANDARD NORME EUROPENNE EUROPISCHE NORM EN 62714-3 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 - Aut
13、omation markup language - Part 3: Geometry and kinematics (IEC 62714-3:2017) Format dchange de donnes techniques pour une utilisation dans lingnierie des systmes dautomatisation industrielle - Automation markup language - Partie 3: Gomtrie et cinmatique (IEC 62714-3:2017) Datenaustauschformat fr Pla
14、nungsdaten industrieller Automatisierungssysteme - Automation markup language - Teil 3: Geometrie und Kinematik (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 condition
15、s 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
16、 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 nation
17、al 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, Portu
18、gal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung CEN-CENELEC Management Centre: Avenue Marnix 1
19、7, 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 BS EN 62714-3:2017EN 62714-3:2017 2 European foreword The text of document 65E/497/CDV, future edition 1 of IEC 62714-3, prepared by SC 65E “Devi
20、ces 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 natio
21、nal level by publication of an identical national standard or by endorsement (dop) 2017-12-01 latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2020-03-01 Attention is drawn to the possibility that some of the elements of this document may be the su
22、bject 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. BS EN 62714-3:2017EN 62714-3:2017 2 Europea
23、n 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
24、:2017. The following dates are fixed: latest date by which the document has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2017-12-01 latest date by which the national standards conflicting with the document have to be withdrawn (dow) 202
25、0-03-01 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 b
26、y CENELEC as a European Standard without any modification. EN 62714-3:2017 3 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 indisp
27、ensable 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 rel
28、evant 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 use in industrial automation systems engineering - Autom
29、ation markup language - Part 1: Architecture and general requirements EN 62714-1 2014 IEC 62714-2 2015 Engineering data exchange format for use in industrial automation systems engineering - Automation markup language - Part 2: Role class libraries EN 62714-2 2015 ISO/PAS 17506 - Industrial automati
30、on 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 - - BS EN 62714-3:2017This page deliberately left blank 2 IEC 62714-3:2017 IEC 2017 CONTENTS FOREWORD . 6 INTRODUCTION . 8 1 Scope
31、 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 AutomationMLInterfaceCl
32、assLib 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 geometr
33、ic/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 Referenci
34、ng 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 ref
35、erencing 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 the
36、ir 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
37、.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 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
38、 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
39、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
40、 . 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
41、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 ref
42、erencing 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
43、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 C
44、AEX and COLLADA into AML 46 BS EN 62714-3:2017IEC 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 ar
45、ticulated 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 gripp
46、er 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 grip
47、per 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 AutomationMLInterfaceClassLi
48、b 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 InstanceHierarch
49、y 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 cu
