motion

Lexicon: eco.wonderland.workcell.device.configuration.motion.defs
Type: object

Movement of the component relative to a coordinate system. motion specifies the kinematic chain of the component entities. At most only one of origin or transformation MUST be defined for a motion.

Properties

actuation

Type: motionActuationType
Required

Describes if this component is actuated directly or indirectly as a result of other motion.

coordinateSystemIdRef

Type: string
Required

Coordinate system within which the kinematic motion occurs.

id

Type: string
Required

Unique identifier for this element.

parentIdRef

Type: string

Pointer to the id. The kinematic chain connects all components using the parent relations. All motion is connected to the motion of the parent. The first node in the chain will not have a parent.

type

Type: motionType
Required

Type of motion.

axis

Type: axis

origin

Type: origin

transformation

Type: transformation

Referenced By

• configuration eco.wonderland.workcell.device.configuration.defs

Schema

{
  "type": "object",
  "required": [
    "actuation",
    "coordinateSystemIdRef",
    "id",
    "type"
  ],
  "properties": {
    "actuation": {
      "type": "ref",
      "ref": "lex:eco.wonderland.workcell.device.data.defs#motionActuationType"
    },
    "coordinateSystemIdRef": {
      "type": "string"
    },
    "id": {
      "type": "string"
    },
    "parentIdRef": {
      "type": "string"
    },
    "type": {
      "type": "ref",
      "ref": "lex:eco.wonderland.workcell.device.data.defs#motionType"
    },
    "axis": {
      "type": "ref",
      "ref": "#axis"
    },
    "origin": {
      "type": "ref",
      "ref": "lex:eco.wonderland.workcell.device.configuration.coordinate.defs#origin"
    },
    "transformation": {
      "type": "ref",
      "ref": "lex:eco.wonderland.workcell.device.configuration.coordinate.defs#transformation"
    }
  }
}