Yaw 2022.003

CONCEPT

Fields	Type	Description	Purpose

Fields	Type	Description	Purpose
ID (Concept identifier)	M	yaw	GRAMMAR
Concept name	M	Yaw	GRAMMAR
Concept type	M	status	GRAMMAR
Also known as	O	Yaw movement; skew rotation; slewing	TIC Description
Definition	M	Rotation of the CHE around Z-axis to + or - direction (right hand rule). Rotational movements The yawing rotation of a vehicle about its transverse/Z-axis.	TIC Description
Further Detail	O	Yaw represents if the machine is rotaing about Z-axis while it is “Working” Yaw is referring to operational definition not about the “NotRalenti” running engine definition. For example in an AGV it is considered to yaw if any of these are true (active): Ground is tilted about Z-axis of the vehicle Making yaw rotation It is not considered turning right Engine running and vehicle not driving Vehicle is working but not moving Any internal element running (moving) or internal parts that need to be running continuously (fans, ventilation etc)	TIC Description
Required Information	M	SUBJECT; OBSERVED PROPERTY and VALUE	TIC Description
SUBJECT		https://tic40.atlassian.net/l/c/mfS1hwE9; spreader
POINT OF MEASUREMENT		POM: input; iinput; output; input_or_output POMT: actual;
OBSERVED PROPERTY		status; duration; counter; totalcounter; timer; totaltimer; angle; anglespeed;
Value		TRUE; FALSE; real number; integer default unit: sexagesimal
Related standards	O	ISO3691-4; ISO9787:2013	TIC Description
Related TIC 4.0 definition	O	https://tic40.atlassian.net/l/c/0QdBFNK0 https://tic40.atlassian.net/l/c/2D2PWMvC Forward 2022.003 Reverse 2022.003 Left 2022.003 Right 2022.003 Pivoting 2022.003 Crabbing 2022.003 Roll 2022.003 Roll 2022.003 Pitch 2022.003 Yaw 2022.003	TIC Description
Example	M	che.drive.yaw.status: TRUE che.drive.yaw.angle.sexagesimal: 24	TIC Description
Example in the context of the grammar	M	Json example: { "msg": { "id": "239084yjknliunhl234kj5n234o9785234bnljk234n5o2ui34h523l4jki5nr234lkjn", "version": "2022.003" }, "che": [ { "id": "", "drive": [ { "id": "DJI_2015_230894Y20934768", "name": "DRON01", "number": 1, "type": "DRON", "family": "TIC", "brand": "DJI", "model": "TIC4.0", "yaw": { "status": [ { "pom": "output", "pomt": "actual", "timestamp": "2021-12-16T10:26:38.688Z", "value": true } ], "duration": [ { "pom": "output", "pomt": "actual", "unit": "second", "timestamp": "2021-12-16T10:26:38.688Z", "value": 8 } ], "counter": [ { "pom": "output", "pomt": "actual", "timestamp": "2021-12-16T10:26:38.688Z", "value": 1, "starttimestamp": "2021-12-16T10:26:38.688Z", "endtimestamp": "2021-12-16T10:26:38.688Z" } ], "totalcounter": [ { "pom": "ioutput", "pomt": "actual", "timestamp": "2021-12-16T10:26:38.688Z", "value": 34523 } ], "timer": [ { "pom": "output", "pomt": "actual", "unit": "second", "timestamp": "2021-12-16T10:26:38.688Z", "value": 8, "starttimestamp": "2021-12-16T10:26:38.688Z", "endtimestamp": "2021-12-16T10:26:38.688Z" } ], "totaltimer": [ { "pom": "output", "pomt": "actual", "unit": "hour", "timestamp": "2021-12-16T10:26:38.688Z", "value": 15678 } ], "angle": [ { "pom": "output", "pomt": "actual", "unit": "sexagesimal", "timestamp": "2021-12-16T10:26:38.688Z", "value": 21, "starttimestamp": "2021-12-16T10:26:38.688Z", "endtimestamp": "2021-12-16T10:26:38.688Z", "reference": "+clockwise" } ], "totalangle": [ { "pom": "output", "pomt": "actual", "unit": "kilosexagesimal", "timestamp": "2021-12-16T10:26:38.688Z", "value": 345, "reference": "absolute" } ], "anglespeed": [ { "pom": "output", "pomt": "actual", "unit": "sexagesimal", "timestamp": "2021-12-16T10:26:38.688Z", "value": 60, "reference": "sexagesimal_per_minute" } ] } } ] } ] }	TIC Description
Link to one or more operational processes	M	AGV or similar driving operation.	TIC Description
Search tags	M	#yaw; #skew; #slew; #yawing; #skewing; #yaw movement	Technical
Version / Date	M	2022.003 - 01/09/2021	Technical
Internal TIC Version	M		Technical

M = Mandatory

O = Optional

Created by	Edited by	Review / Approve	Published
@Pekka Yli-Paunu 01-09-21