This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/ Capability Model ontology Otto Hylli 0.0.7 Capability Model ontology Eeva Järvenpää Eeva Järvenpää Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue. Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue. 2018-03-18 Niko Siltala en The ontology has been defined at Tampere University of Technology, Finland, by Eeva Järvenpää, Niko Siltala and Otto Hylli. The research has received funding from the European Union Horizon 2020 Programm under grant agreement nbr 680759 (Project ReCaM - Rapid Reconfiguration of Flexible Production Systems through Capability-based Adaptation, Auto-configuration and Integrated tools for Production Planning) Licencing: Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0) To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/ 1 1 1 6 1 1 1 1 1 1 1 Capability to fix items, i.e. to hold them in a fixed position during processing or assembling. For example fixture has this capability. 1 1 This is a capability of a manual driver tool, e.g. a screwdriver, without the tool tip (e.g. a screwing head). This capability doesn't have any parameters. 1 This class is used to define the dimensional parameters for a sphere shaped object. This capability refers to a process where a nut (or some other part with threads) is tightened from the side. The tool can not access from above. 1 1 1 1 0 Capability to perform pick up operation. 1 1 1 1 1 0 1 1 1 1 Capability to perform screwing operation. For example screwdriver with attached screwing head has this capability. 1 1 1 1 Capability to remove material by milling. For example milling machine with attached tooling has this capability. 1 1 1 1 1 1 1 1 1 1 1 1 Capability to hold items by gravity. For example belt conveyor has this capability. 1 1 1 Capability to act as an orbital powerhead e.g. in orbital riveting or orbital forming process. 1 1 1 1 1 1 1 1 Capability to rotate (to spin) a tool. For example drill, screwdriver and milling machine has this capability. 1 1 1 6 1 1 1 0 1 1 1 Capability to pick items and to place them into another location. 1 0 Capability of a feeding tube that is used in tube feeders. Tube refers to a magazine in which the parts are stacked on each other and can be provided to the feeder one by one. 1 1 1 This class is for storing the information about the rotational movement ranges. Two values should be given to indicate the movement ranges to different +/- direction from the home position. 2 2 2 1 1 Capability to feed parts directly from bulk, e.g. from boxes. Other commonly used term is bin picking. Machine vision is needed to identify the position and orientation of the parts. 1 6 1 1 1 1 0 1 1 This capability refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions. 0 1 1 1 1 This class is used to save the information of a cylindrical workspace. 1 1 1 1 1 Capability of the riveting tool. This tool is the one which delivers force to the rivet during the riveting process. In case of orbital and radial riveting, this tool is used to form the rivet while in case of impact riveting the actual forming tool is on the other side of the product. 1 1 2 1 6 1 2 Capability to transport items from one place to another by collaborative movement. For example a dual-arm robot attached with two grippers has this capability. 2 Process to transport items by utilizing collaborative movement. E.g. by a dual arm robot. 1 1 1 1 1 1 1 1 This is a capability to insert items by applying some force. Capability to act as a frame in different processes. This capability is used to hold the resource (e.g. in case of riveting or pressing) in relation to the product and to provide the counter force to the applied process force. 1 1 1 1 1 1 1 1 1 1 1 1 Capability to visually detect the orientation and position of the parts, e.g. based on machine vision. This is the capability of the whole camera system, including e.g. lenses, flash and image prosessing. (This capabiility could be further divided into lower level capabilities (VisualSensing, ObjectRecognition and ImageProcessing) but it is out of scope in ReCaM.) 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Capability to grasp items by vacuum. For example a vacuum gripper with ejector and vacuum cup(s) has this capability. This class is used to store instances related to force directions and minimum and maximum force values. It is used by the ForceApplying capability. 1 1 1 1 This capability refers to the ability to exert impact force to a nail or other object. 1 1 1 1 1 1 1 1 1 6 1 1 1 Capability to move items within a certain workspace with collaborative movement. For example a dual arm robot has this capability. 1 1 1 This class is used to store the dimensional information of movement ranges. Linear and rotational movement ranges are saved in separate classes. This class is used to save the information about the workspace of the moving capability. The sub-classes (WorkspaceArticulated, WorkspaceCartesian, WorkspacePolar) define the dimensional parameters of the specific workspace type. This class is used to define the dimensional parameters for a cylinder shaped object. 1 1 1 1 Capabili ty of an ogiva-shaped tool, which can be used to e.g. expand an o-ring. 1 This is the capability of a ratchet (wrench) without the socket. 1 Capability of a finger that is used in a finger gripper. Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM. 2 1 2 1 1 1 1 1 1 1 1 1 Capability of a milling cutter. 1 This class is used to define the dimensional parameters for a pyramid shaped object. 1 2 2 This class includes the different shape definitions that can be used to describe e.g. allowable shapes and sizes of objects that can be handled, or the shape of a mould or adapter on a high level. The sub-classes (ConeShape, BoxShape, CylinderShape, PyramidShape and SphereShape) define the dimensional parameters for different shapes. 1 This class is used to save the information of a cartesian workspace (box/cube). 1 1 1 1 1 1 Capability to mount flexible rings, e.g. o-rings, externally around cylindrical shape. 1 1 1 1 1 Capability to perform impact riveting. In impact riveting the tool follows linear trajectory. 1 1 1 1 1 Capability to hold a tool. For example tool holder in a machining centre has this capability. The information related to the tool and tool holder interfaces is handled by the interface descriptions of the resources. Here only such parameters are included, which affect to the processing capability of the resource and resource combination. 1 1 1 1 1 1 1 1 1 1 1 1 Capability to perform orbital riveting. In orbital riveting the tool follows orbital trajectory. 1 1 1 1 2 1 1 Capability of a drill bit. 1 Capability to act as a radial powerhead e.g. in radial riveting or radial forming process. 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Capability to move items within a certain workspace. For example a robot and conveyor has this capability. 6 1 1 1 1 1 2 1 1 1 1 4 1 1 2 1 1 1 1 4 Capability to grasp items with fingers. For example finger gripper (with attached fingers) has this capability. 1 1 1 1 1 1 This class is used to save the information of a polar workspace. 1 1 0 0 Capability to feed parts from a tube. This is a capability of a tube feeder consisting of the tube (maganize) and the feeder base unit along with the part positioning and orienting units. 1 1 1 0 1 1 The device has ability to act as a tray feeder (tray itself not included). 1 1 1 1 blind Capability to join parts by blind riveting, i.e. riveting only from one side of the product. Sometimes called pop riveting. 1 1 1 1 1 1 1 1 1 This is the capability to act as a rollset during riveting process. In impact riveting, it is the capability of the tool below the workpiece. This tool does the actual forming of the rivet, while the rivet is being pushed with another tool from another side of the product. 1 1 1 1 1 1 1 1 Capability to store parts in a random position and orientation, e.g. in a box. This capability is for storing items, e.g. in a warehouse or in part magazine. 1 1 1 1 This is the capability of the hammer. Hammer can not do anything alone. 1 1 1 1 1 1 1 2 1 Capability to perform drilling operation. For example drill with attached drill bit, or milling machine with attached tool holder and drill bit, has this capability. 1 1 1 1 1 This is a capability to grasp items internally by expansion. 1 1 Internal grasping 1 1 1 1 1 1 This capability refers to the ability to pull items. E.g. blind riveting machine is able to form the rivets by pulling it towards itself from the rivet mandrel. Capability to release items which have been grasped. E.g. gripper has this capability. This is the capability of twisting (rotating) a tool driver. Consists of the tool driver function itself and the twisting done by human. 1 Capability to apply force to certain directions. This class is used to store the dimensional information of items. Can be used to define the max and min item size that can be handled with a certain capability. 1 1 1 1 1 0 1 1 This capability feeds part by transporting, positioning and orienting the parts to a desired place. For example conveyor with positioning elements may have this capability. 1 0 1 0 1 1 1 1 1 1 1 Capability to run parts on thread. Basically this means capability to spin the parts. 1 1 1 This is a capability of a wrench type tool, e.g. open ended wrench or monkey wrench. 1 1 1 1 1 1 1 1 1 1 Capability to feed parts on trays. For example tray feeder attached with compatible tray has this capability. NOTE! When defining the capabilities of a milling machine, this capability should not be used. Instead, use the MillingCutterFunction and ToolHolding capabilities. Capability of a milling tool, including the tool holder and milling cutter. This capability has no parameters, as this capability is not used alone. In this class are saved some additional parameters related to resources and their capabilities. Different parameter types, which are modelled through a separate class instead of datatype properties of a relevant capability class may be: 1) Parameters, which affect the capability of the resource, but which can not be directly assigned to any capability, e.g. dimensions or weight of the resources. 2) Parameter groups, which can relate to multiple different capabilities, e.g. ItemSize which can be used to indicate the min and max size of an item that can be handled with a certain capability, are implemented as a separate class to improve the reusability of the parameters. 3) Parameter groups, which relate directly to certain capability, but which parameters depend on the nature of the capability. E.g. the workspace type of the movement capability determines the parameters of the workspace and can not thus modelled as datatype properties of the Moving capability directly. 1 This capability orients an object mechanically. E.g. some guiding features attached to a conveyor may have this capability. 1 0 0 0 1 Capability to perform pressing activity. Pressing may be used e.g. to assemble tight fit joinings. Depending on the size of the product, pressing may require fixturing. This need to be defined in the product requirement description. 1 1 1 1 1 1 1 1 1 1 1 1 1 Capability of a finger gripper without the fingers. Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM. 1 1 1 1 1 1 Capability class is a parent class for the specific capability classes, which define the functionalities of resources. Capabilities can be simple or combined capabilities, but they are all saved as sub-classes of the Capability without separating them into different classes. This is because combined capabilities may be aggregated from lower level combined capabilities. Capability to grasp items by magnet. E.g. screw driver head/tool tip may have this capability. 1 1 1 1 1 1 This is a capability of a ratchet wrench with the attached socket. Capability to hold the rivet during the riveting process. This capability is needed e.g. in impact riveting. 1 1 1 1 1 1 1 Capability of an tool, which is used to push the o-ring or other flexible ring on top of ogiva to expand the o-ring. Capability to perform placing operation. 1 1 1 Capability to expand a flexible ring, e.g. o-ring, with a gripper type tool. 1 1 1 1 1 1 This class is used to define the dimensional parameters for a box shaped object. 1 1 1 This class is used to save the information of an articulated workspace. The definition is simpliified. 1 1 1 0 0 0 This capability positions an object mechanically . E.g. some guiding features attached to a conveyor may have this capability. 1 This is the parent class for all the combined capabilities. 2 2 2 This class is for storing the information about the linear movement ranges. Two values should be given to indicate the movement ranges to different +/- direction from the home position. 1 1 This property is used to indicate from which material the resource, possessing the given capability, is made from. Press tool function represents the capability of the pressing tool. In some cases it may be specifically designed for a certain product shape. 1 1 1 1 1 1 6 1 1 1 Capability to transport items from one place to another. For example robot attached with a gripper, or conveyor alone have this capability. 0 1 0 1 1 1 1 Capability of a screwing head. 1 1 1 1 1 1 6 1 1 1 1 Capability of a machine to move the tool within the machine, e.g. milling machine has this capability. 1 1 1 1 1 1 1 1 1 Capability to store parts in a dedicated position and orientation on a tray. Feeding tray has this capability. 1 This class is meant for storing some basic resource information which is needed for combined capability calculation and capability matching, but which is not directly logically related to any capability. 1 1 1 1 1 This is the manual capability of a human to twist (rotate) e.g. a screwdriver. 1 1 1 1 1 This capability refers to a process in which the nut, bolt or screw is tightened by a wrench type tooling. 5 1 1 1 1 1 1 Capability of the ejector and vacuum gripper body. This class is used to define the dimensional parameters for a cone shaped object. 2 1 This is the parent class for all the simple capabilities. 1 1 1 Capability of a tube feeder base (only the feeder part, tube excluded). Tube feeder base is the module which holds the tube (magazine) and pushes one part at the time to the feeding position. 1 1 1 This class contains information related to the performance of the resource. 1 1 1 1 1 1 1 1 1 1 1 Capability to perform radial riveting. In radial riveting the tool follows radial trajectory. 1 Capability to expand a flexible ring, e.g. o-ring, with ogiva shaped tool. Includes the ogiva and the tool that pushes the o-ring from the ogiva. Capability of a vacuum cup. 1 1 1 1 1 1 1 1 1 This property is used to link the capabilities to the minimum item size they can handle. If the shape is critical, then another parameter called hasAllowedItemShapeAndSize_min should be used. This property is used to define the shape and minimun internal size of items that can be handled with the capability. This property is used to define the exact allowable shape and size that can be handled with the specific capability. This property may get multiple values. . This property is used to define the shape and maximun internal size of items that can be handled with the capability. This property is used to save qualified property restrictions for input capabilities. This parameter is used to save the allowed size of the associated object, e.g. a tray of a tray feeder. This property is used to link the moving capability to a certain workspace type and its dimensions. This parameter is used to give details on the movement ranges of rotational capability. This property is used to define the shape and maximun size of items that can be handled with the capability. This property is used to associate an object to a shape definition, i.e. to present the internal shape of an object, which is critical for determining the match between product requirements. This parameter is used to refer to the min and max force values and direction of the force. This property indicates the shape and size of the tool used to accomplish this capability. This property is used to link to the definition of a minimum rivet size that can be handled with the capability. Can be used to define both the length and diameter. This property is used to associate an object to a shape definition, i.e. to present the shape and size of the object, which is critical for determining the match between product requirements. It can be used e.g. to define the shape of a tool. This property is used to link to the definition of a maximum rivet size that can be handled with the capability. Can be used to define both the length and diameter. This parameter is used to give details on the movement ranges of translational movement capability. This property is used to define the shape and minimum size of items that can be handled with the capability. This parameter is used to save the information related to the minimum size and shape of the fixtured product. This parameter is used if the shape is relevant. Otherwise the bounding box type parameter hasItemSize_min can be used. This parameter is used to save the information related to the maximum size and shape of the fixtured product. This property is used if the shape is relevant. Otherwise the bounding box type parameter hasItemSize_max can be used. This prop erty is used to link the capabilities to the maximum item size they can handle. If the shape is critical, then another parameter called hasAllowedItemShapeAndSize_max should be used. This property is used to indicate from which capabilities a certain combined capability is composed of. This is a parent property for object properties which are used to relate the capabilities to additional capability parameters. This property is used to indicate the suitable materials that can be processed with the capability. This property defines the rotation angles of an Y-axis. Two values should be provided for this property, + and - values. Unit: Degrees Unit: Seconds (s) Minimum closing time of the gripper fingers. Parent property for different ring size related properties. Parameter indicating if the capability provides force control or not? Gets boolean value (true or false) Height of the area in the shere top, not belonging to a certain workspace. Unit: Millimeters (mm) Unit: Degrees Angle of the cutting edge. Minimum size of the nut (the head that attaches to the tool). Unit: Millimeters (mm) Maximum opening of the fingers. In case of 3-finger gripper, this value defines the diameter, while in case of 2-finger gripper it defines the distance between the fingers. Friction Mechanical Type of the fingers' grasping method. Can get value:"Friction" or "Mechanical" Number of teeth in the cutter tool. Unit: Rounds per minute (rpm) Miminum spinning (rotation) speed (rpm). Unit: Millimeters (mm) Maximum depth that can be drilled with the drill bit. Unit: m/s2 Maximum acceleration in z-direction. Directios where the force can be applied. +X +Y -Y +Z -Z -X Version of the tool. Can be "right handed" or "left handed". Right handed Left handed Unit: Millimeters (mm) Maximum stroke of the movement. Volume of an entity This property defines the rotation angles of an Z-axis. Two values should be provided for this property, + and - values. Unit: Degrees How much cup retracts when grasping occurs? Unit: millimetres (mm). Unit: Millimeters (mm) Minimum opening of the fingers. In case of 3-finger gripper, this value defines the diameter, while in case of 2-finger gripper it defines the distance between the fingers. Unit: Meters per second (m/s) Maximum speed (velocity) in y-direction. Unit: millimeter (mm) The maximum depth the tool can enter inside the tool holder or machine. Unit: Millimeters (mm) Height of the area in the sphere bottom, not belonging to a device workspace Unit: Millimeters (mm) Unit: Degrees Rotation angle of a workspace. Minimum time it takes to expand the gripper in maximum. Unit: Second (s) Minimum allowed focus distance of the camera system. Unit: Millimeters (mm) Maximum field of view in x-direction. Unit: millimeters (mm) Unit: Newton (N) Minimum grasping force of the gripper. Unit: Degrees Shape of the hole's bottom, that can be achieved with the tool, i.e. angle of the tool tip. Minimum field of view in x-direction. Indicates the shape of the frame which gives the counterforce to the applied process force. Gets values from enumerated list. C-frame H-frame O-frame Type of the rivet that can be riveted with this capability. Gets values from enumerated list: “solid”, “semitubular”, “tubular”, “split”, “compression”, “blind”. solid semitubular split blind countersunk compression tubular Unit: Millimeters (mm) This parameter indicates the effective length of the tool, which means the length of the tool outside the holding element. Parameter relating to the dimensions of the picking up space in feeder, e.g. in a tray. This will affect to the required workspace of the picking resource. Unit: Millimeters (mm) Theoretical lateral holding force of the vacuum gripper at the nominal pressure. Unit: Newton (N). Maximum field of view in y-direction. Unit: Millimeter (mm). Nose radius of the cutting insert. Unit: Millimeters (mm) Unit: Millimeters (mm) Accuracy of the capability. This property is used to tell if the fixturing is centering or not. Gets boolean value: 1 meaning "yes", 0 meaning "no". Maximum spatial resolution (in maximum focus distance). Unit: mm/pixel Number (amount) of degrees of freedom of the movement. This property is used to model the length of the handle, e.g. in case of a hammer. Parent property for capability parameters relating to cutters, e.g. milling or turning cutters. This property is used to indicate if the vacuum cup has bellows or not. Gets Boolean value (true | false). Type of the cutter. Can be e.g. face mill. end mill face mill Unit: Newton meter (Nm) Maximum torque that can be applied. Tolerance (lower value) relating to a specific capability. Unit: Millimeters (mm) Minimum field of view in y-direction. Para meters relating to the screwing head capability. Parameter relating to the dimensions of the picking up space in feeder, e.g. in a tray. This will affect to the required workspace of the picking resource. Unit: Millimeters (mm) Unit: Millimeters (mm) Tolerance (upper value) relating to a specific capability. Maximum number of parts the capability can handle. Maxomum holding force to hold items, e.g. in case of magnetic grasping. Unit: Newton meter (Nm) Unit: Meters per second (m/s) Maximum speed (velocity) in z-direction. U-drill TwistBit Unibit CenterDrillBit Type of the drill. Value can be selected from enumerated list, e.g. U-drill, Unibit,... Unit: Seconds (s) Minimum opening time of the gripper fingers (fastest possible). This is the maximum expansion of an expanding gripper. Unit: Millimeter (mm) Unit: Kilograms (kg) Payload related to the given capability. Defines the shape of the rivet that can be achieved with this capability. Gets values from enumerated list: “button”, “truss”, “oval”, “flat countersunk”, “pan”, “flat”, “cone”. truss oval flat countersunk pan cone flat button Maximum surface accuracy (in maximum focus distance). Unit: Newton (N) Maximun grasping force of the gripper. Parameters for saving the inforamation about max and min values for the tool entry inside the tool holder. These should be moved to the interfae description!? Parameters relating to the torque of the capability. Number of fixing points or surfaces in the fixture. Unit: Millimeter (mm) Size of a screw for which the screwing head is meant for. Unit: Parts/second Maximum feed rate of the capability. Represented as parts/second. Parameters relating to finger grippers. Number of fingers in the gripper shape_recognition color_recognition existence_recognition localization Type of operation of the machine vision algorithm. Minimum time it takes to contract (release) an expanding gripper. Unit: Second (s) Unit: Meters per second (m/s) Maximum speed (velocity) in x-direction. Nominal pressure of the capability. Average cycle time of one operation cycle with the given resource. Unit: Second (s) <p style="margin-top: 0"> Type of the machine vision algorithm. </p> circle_fitting pattern_matching blob surface_matching Translate_X Translate_Z Rotate_Y Rotate_Z Rotate_X Translate_Y Degrees of freedom of the movement. Unit: m/s2 Maximum acceleration in y-direction. Unit: Newton meter (Nm) Default torque that can be applied. Type of the grasping. Can get values internal grasping and/or external grasping. External grasping Internal grasping Unit: Millimeters (mm) Dimension in z-direction. Unit: Millimeters (mm) Length of the cutting edge. Parameters relating to the moving capability. Concentricity of the spindle movement. Unit: Millimeter (mm) Unit: Millimeters (mm) This property defines the translation dimension along an X-axis. Two values should be provided for this property, + and - values. Unit: Millimeters (mm) Diameter of an entity. Friction provided by the capability, e.g. friction of the finger gripper fingers. TODO: The friction depends on the material of the grasped item. Can this parameter even exist without the product? Unit: Newton meter (Nm) Minimum torque that can be applied. This is a parent property for all the capability related datatype properties. Parameter indicating if the capability provides position control or not? Gets boolean value: 1 meaning "yes", 0 meaning "no". Unit: Rounds per minute (rpm) Maximum spinning (rotation) speed (rpm). Maximum size of nut or bolt (the head that attaches with the tool) Minimum surface accuracy (in minimum focus distance). Unit: Millimeters (mm) This parameter indicates the effective length of the screwing head. It means the length of the tool outside the screw driver. This information can be used to define how deep inside a material the screw can be screwed. Maximum opening of the fixture fixing elements. E.g. in case of a clamping type fixture, it is the maximum opening of the fixturing jaws . Unit: Millimeters (mm) Parallel 3-point Angular Radial Type of the gripper. Can get the following values: "Parallel", "3-point", "Radial", or "Angular". Unit: Millimeters (mm) Dimension in y-direction. clockwise counterclockwise Directions into which the device can spin (rotate). Can get values: "clockwise" or "counterclockwise" Unit: m/s2 Maximum acceleration in x-direction. Shape of the insert (angle). Unit: Millimeters (mm) This property defines the translation dimension along an Y-axis. Two values should be provided for this property, + and - values. This is the miminum expansion of the expanding gripper (minimum by which it can still hold items). Unit: Millimeter (mm) Minimum resolution on which the force can be controlled. Unit: Newton (N) Unit: Millimeters (mm) Diameter of the drilled hole, i.e. drill bit diameter. In case of unibit type drill bit, two values for the diameter can be given. Parameters relating to drill bits. Maximum allowed focus distance of the camera system. Unit: Millimeters (mm) Name of the entity. Unit: Millimeters (mm) Repeatability of a given capability. Parameters relating to fixturing capability. Minimum opening of the fixture fixing elements. E.g in case of a clamping type fixture, it is the minimum opening of the fixturing jaws . Unit: Millimeters (mm) Unit: Millimeters (mm) Outer radius of a workspace This property defines the rotation angles of an X-axis. Two values should be provided for this property, + and - values. Unit: Degrees Parameters relating to spinning speed (rotation speed). VACUUM MAGNETIC COMPRESSIVE_FORCE This property is used to indicate the method on how the fixture works. It gets values from enumerated list. Unit: Millimeters (mm) Maximum stroke of the fixing elements in the fixture. Unit: Millimeters (mm) Dimension in x-direction. Unit: Millimeters (mm) Maximum movement range of a finger. Unit: Millimeters (mm) This property defines the translation dimension along an Z-axis. Two values should be provided for this property, + and - values. Defines the angle of the tool in the tool holder. Unit: Degrees. Type of the screwing head for which the tool is meant for, e.g. "torx", "phillips" etc. phillips cross hex_socket hex_bolt robertson security_T pozidriv slotted torx Unit: Newton (N) Minimum force that the capability can apply . Minimum spatial resolution (in minimum focus distance). Unit: mm/pixel Unit: Millimeters (mm) Inner radius of a workspace Unit: Kilograms (kg) This property defines the mass of an entity. Defines the maximum angle of the tool in the device. In case of radial riveting the tool angle changes during the process. Unit: Degrees Defines the minimum angle of the tool in the device. In case of radial riveting the tool angle changes during the process. Unit: Degrees. Unit: Newton (N) Maximum force that the capability can apply (N). Unit: Millimeters (mm) Length of an entity. Unit: Newton (N) Theoretical holding force of the device in a default pressure. . Unit: bar Lowest operating pressure (highest vacuum) the gripper can operate with. Negative value expected. Unit: Newton (N) Minimum fixing force of the fixture. This parameter indicates the amount of trays that can be put to the tray feeder. Size of the screwing head . In case of standard size, it may be unitless. Otherwise mm. Unit: Millimeters (mm) Height of an entity. Minimum internal diameter of the handled item. Unit: Millimeter (mm) Unit: Millimeters (mm) Width of an entity. Max imum amount of rotations that the device can take. Unit: Newton (N) Maximum fixing force of the fixture. Unit: Kilograms (kg) Weight of an entity. This property is used to indicate if the tray feeder can automatically change trays. Amount of vacuum cups in the vacuum gripper Unit: Liters per minute (l/m) Maximum suction capacity of the device (l/min). Maximum internal diameter of the handled item. Unit: Millimeter (mm) Miniimum external diameter of the handled item. Unit: Millimeter (mm) Maximum external diameter of the handled item. Unit: Millimeter (mm) 3-point Parallel Radial Angular left handed right handed +Y +Z -Y -Z -X +X Rotate_Z Translate_Y Translate_Z Translate_X Rotate_Y Rotate_X Mechanical Friction External grasping Internal grasping Type_x Type_y U-drill