{
  "@context": {
    "@version": 1.1,
    "schema": "https://schema.org/",
    "yaskawa": "https://www.yaskawa-global.com/vocab#",
    "motoman": "https://developer.motoman.com/vocab#",
    "qudt": "http://qudt.org/vocab/unit/",

    "Organization": "schema:Organization",
    "name": "schema:name",
    "description": "schema:description",
    "url": "schema:url",
    "sameAs": "schema:sameAs",
    "industry": "schema:industry",
    "foundingLocation": "schema:foundingLocation",

    "Robot": {
      "@id": "yaskawa:Robot",
      "@type": "@id"
    },
    "RobotController": {
      "@id": "yaskawa:RobotController",
      "@type": "@id"
    },
    "ServoMotor": {
      "@id": "yaskawa:ServoMotor",
      "@type": "@id"
    },
    "ACDrive": {
      "@id": "yaskawa:ACDrive",
      "@type": "@id"
    },
    "MachineController": {
      "@id": "yaskawa:MachineController",
      "@type": "@id"
    },
    "MotionJob": {
      "@id": "motoman:MotionJob",
      "@type": "@id"
    },
    "Alarm": {
      "@id": "motoman:Alarm",
      "@type": "@id"
    },
    "IOSignal": {
      "@id": "motoman:IOSignal",
      "@type": "@id"
    },
    "Position": {
      "@id": "motoman:Position",
      "@type": "@id"
    },
    "Axis": {
      "@id": "motoman:Axis",
      "@type": "@id"
    },

    "robotType": {
      "@id": "yaskawa:robotType",
      "@type": "schema:Text"
    },
    "controllerModel": {
      "@id": "yaskawa:controllerModel",
      "@type": "schema:Text"
    },
    "dof": {
      "@id": "yaskawa:degreesOfFreedom",
      "@type": "schema:Integer"
    },
    "payload": {
      "@id": "yaskawa:payload",
      "@type": "qudt:KiloGM"
    },
    "reach": {
      "@id": "yaskawa:reach",
      "@type": "qudt:MilliM"
    },
    "speed": {
      "@id": "yaskawa:speed",
      "@type": "qudt:MilliM-PER-SEC"
    },
    "jobName": {
      "@id": "motoman:jobName",
      "@type": "schema:Text"
    },
    "alarmCode": {
      "@id": "motoman:alarmCode",
      "@type": "schema:Text"
    },
    "alarmSeverity": {
      "@id": "motoman:alarmSeverity",
      "@type": "schema:Text"
    },
    "ioPort": {
      "@id": "motoman:ioPort",
      "@type": "schema:Integer"
    },
    "ioValue": {
      "@id": "motoman:ioValue",
      "@type": "schema:Integer"
    },
    "jointAngle": {
      "@id": "motoman:jointAngle",
      "@type": "qudt:DEG"
    },
    "cartesianX": {
      "@id": "motoman:cartesianX",
      "@type": "qudt:MilliM"
    },
    "cartesianY": {
      "@id": "motoman:cartesianY",
      "@type": "qudt:MilliM"
    },
    "cartesianZ": {
      "@id": "motoman:cartesianZ",
      "@type": "qudt:MilliM"
    },
    "toolFrame": {
      "@id": "motoman:toolFrame",
      "@type": "schema:Integer"
    },
    "userFrame": {
      "@id": "motoman:userFrame",
      "@type": "schema:Integer"
    },

    "SDK": {
      "@id": "schema:SoftwareApplication",
      "@type": "@id"
    },
    "sdkName": "schema:name",
    "programmingLanguage": "schema:programmingLanguage",
    "softwareVersion": "schema:softwareVersion",
    "codeRepository": "schema:codeRepository",

    "YaskawaGlobal": {
      "@id": "yaskawa:Organization",
      "@type": "schema:Organization",
      "schema:name": "Yaskawa Electric Corporation",
      "schema:url": "https://www.yaskawa-global.com",
      "schema:industry": "Industrial Automation"
    }
  }
}