{
  "$schema": "http://json-schema.org/schema#",
  "$schemaVersion": "0.0.2",
  "$id": "https://smart-data-models.github.io/dataModel.RoboticIndustrialActivities/RobotArm/schema.json",
  "title": " Smart Data Models- Industrial robot arm schema",
  "description": "A robotic arm for moving stone pieces.",
  "type": "object",
  "allOf": [
    {
      "$ref": "https://smart-data-models.github.io/data-models/common-schema.json#/definitions/GSMA-Commons"
    },
    {
      "$ref": "https://smart-data-models.github.io/data-models/common-schema.json#/definitions/Location-Commons"
    },
    {
      "properties": {
        "id": {
          "type": "string"
        },
        "type": {
          "type": "string",
          "enum": [
            "RobotArm"
          ],
          "description": "Property. It has to be RobotArm. NGSI Entity type."
        },
        "serialNumber": {
          "type": "integer",
          "description": "Property. Model:'https://schema.org/Text'. The robot identifier, makes it unique in the world."
        },
        "proState0": {
          "type": "string",
          "enum": [
            "#P_FREE",
            "#P_ACTIVE",
            "#P_END",
            "#P_RESET",
            "#P_STOP"
          ],
          "description": "Property. Model:'https://schema.org/Text'. Status of the Robot PLC"
        },
        "proState1": {
          "type": "string",
          "enum": [
            "#P_FREE",
            "#P_ACTIVE",
            "#P_END",
            "#P_RESET",
            "#P_STOP"
          ],
          "description": "Property. Model:'https://schema.org/Text'. Status of the Robot Program Interpreter"
        },
        "drivesOn": {
          "type": "boolean",
          "description": "Property. Model:'https://schema.org/Text'. Status of the Robot Drives"
        },
        "drivesOff": {
          "type": "boolean",
          "description": "Property. Model:'https://schema.org/Text'. Status of signal to turn the Robot Drives to off"
        },
        "peripheryReady": {
          "type": "boolean",
          "description": "Property. Model:'https://schema.org/Text'. Readiness of all peripheral devices around the robot"
        },
        "emergencyStop": {
          "type": "boolean",
          "description": "Property. Model:'https://schema.org/Text'. Readiness of the emergency circuit of the robot"
        },
        "operatingMode": {
          "type": "string",
          "enum": [
            "#T1",
            "#T2",
            "#AUT",
            "#EXT"
          ],
          "description": "Property. Model:'https://schema.org/Text'. State of the turn key switch on top of the robot control panel"
        },
        "positionX": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual x coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "positionY": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual y coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "positionZ": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual z coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "positionA": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual a (rotation around z axis) coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "positionB": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual b (rotation around y axis) coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "positionC": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual c (rotation around x axis) coordinate of the robot position (with the actual tool and base coordinates)"
        },
        "toolX": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual x value for the definition of the tool frame."
        },
        "toolY": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual y value for the definition of the tool frame."
        },
        "toolZ": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual z value for the definition of the tool frame."
        },
        "toolA": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual a value for the definition of the tool frame."
        },
        "toolB": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual b value for the definition of the tool frame."
        },
        "toolC": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual c value for the definition of the tool frame."
        },
        "baseX": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual x value for the definition of the base frame."
        },
        "baseY": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual y value for the definition of the base frame."
        },
        "baseZ": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual z value for the definition of the base frame."
        },
        "baseA": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual a value for the definition of the base frame."
        },
        "baseB": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual b value for the definition of the base frame."
        },
        "baseC": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Text'. Actual c value for the definition of the base frame."
        },
        "angleAxis1": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the first axis on the robot arm."
        },
        "angleAxis2": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the second axis on the robot arm."
        },
        "angleAxis3": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the third axis on the robot arm."
        },
        "angleAxis4": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the fourth axis on the robot arm."
        },
        "angleAxis5": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the fifth axis on the robot arm."
        },
        "angleAxis6": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Angle of the sixth axis on the robot arm."
        },
        "torqueAxis1": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the first axis of the robot arm."
        },
        "torqueAxis2": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the second axis of the robot arm."
        },
        "torqueAxis3": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the third axis of the robot arm."
        },
        "torqueAxis4": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the fourth axis of the robot arm."
        },
        "torqueAxis5": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the fifth axis of the robot arm."
        },
        "torqueAxis6": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual torque of the sixth axis of the robot arm."
        },
        "maxTorqueAxis1": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the first axis of the robot arm."
        },
        "maxTorqueAxis2": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the second axis of the robot arm."
        },
        "maxTorqueAxis3": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the third axis of the robot arm."
        },
        "maxTorqueAxis4": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the fourth axis of the robot arm."
        },
        "maxTorqueAxis5": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the fifth axis of the robot arm."
        },
        "maxTorqueAxis6": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal torque of the sixth axis of the robot arm."
        },
        "velocityAxis1": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the first axis of the robot arm."
        },
        "velocityAxis2": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the second axis of the robot arm."
        },
        "velocityAxis3": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the third axis of the robot arm."
        },
        "velocityAxis4": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the fourth axis of the robot arm."
        },
        "velocityAxis5": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the fifth axis of the robot arm."
        },
        "velocityAxis6": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Actual Velocity of the sixth axis of the robot arm."
        },
        "maxVelocityAxis1": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the first axis of the robot arm."
        },
        "maxVelocityAxis2": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the second axis of the robot arm."
        },
        "maxVelocityAxis3": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the third axis of the robot arm."
        },
        "maxVelocityAxis4": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the fourth axis of the robot arm."
        },
        "maxVelocityAxis5": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the fith axis of the robot arm."
        },
        "maxVelocityAxis6": {
          "type": "number",
          "description": "Property. Model:'https://schema.org/Number'. Maximal Velocity of the sixth axis of the robot arm."
        }
      }
    }
  ],
  "required": [
    "id",
    "type",
    "serialNumber"
  ]
}