URS-ROB-001: Robot Control¶
| Property | Value |
|---|---|
| ID | URS-ROB-001 |
| Version | 1.0 |
| Status | Draft |
| Bounded Context | Robot |
| Author | |
| Approved By | |
| Date |
BR Traceability¶
| URS Requirement | Business Requirement | arc42 Reference |
|---|---|---|
| URS-ROB-001.1 | BR-02 | arc42/01 s1.1 |
| URS-ROB-001.2 | BR-02 | arc42/01 s1.1 |
| URS-ROB-001.3 | BR-02 | arc42/06 s6.3 |
| URS-ROB-001.4 | BR-02 | arc42/01 s1.1 |
Scope¶
The Robot bounded context manages robot master data, position data, and coordinate calculations. Robots are industrial manipulators in the microfactory that require precise position configuration and real-time control.
Requirements¶
URS-ROB-001.1: Store Robot Master Data¶
Description: The system shall store and retrieve robot master data including position, orientation, and coordinate frame configurations.
Acceptance Criteria: - Store master data with X, Y, Z coordinates and A, B, C orientation angles - Include coordinate frame references (base, tool, external) - Auto-generated UID and CRC for each record - Retrieve master data by robot ID
GxP Relevance: Direct Risk Class: Medium
URS-ROB-001.2: Store Robot Position Data¶
Description: The system shall store and retrieve position data with master and tool offsets.
Acceptance Criteria: - Store position data with master offset and tool offset values - Link position data to master data records - Auto-generated UID and CRC - Retrieve position data by robot ID
GxP Relevance: Direct Risk Class: Medium
URS-ROB-001.3: Calculate Robot Positions¶
Description: The system shall calculate robot positions by combining master data with offsets.
Acceptance Criteria: - Calculate effective position from master data + master offset + tool offset - Return calculated X, Y, Z, A, B, C values - Calculation is deterministic and reproducible - Results match expected coordinate transformations
GxP Relevance: Direct Risk Class: High
URS-ROB-001.4: Execute Robot Master Teach¶
Description: The system shall support robot master teach operations with 16 parameters.
Acceptance Criteria: - Accept 16 teach parameters (X, Y, Z, A, B, C for base, tool, and external frames plus speed and acceleration) - Store teach results as new master data - Calculate and store CRC for teach data - Return the generated UID of the new master data record
GxP Relevance: Direct Risk Class: High
References¶
- Architecture: arc42/05 s5.2.1 — Robot BC
- Runtime: arc42/06 s6.3 — OPC UA Method Call
- Related URS: URS-INT-001 (OPC UA exposure)