F.1 General

This annex documents the history of technical modifications made to ISO/TS 10303-105.

Unless otherwise specified all modifications are upwardly compatible to the previous edition. Modifications to EXPRESS specifications are upwardly compatible if:

• instances encoded according to ISO 10303-21, and that conform to an ISO 10303 application protocol based on the previous edition of this part of ISO 10303, also conform to a revision of that application protocol based on this edition of this part of ISO 10303;
• interfaces that conform to ISO 10303-22 and to an ISO 10303 application protocol based on the previous edition of this part of ISO 10303, also conform to a revision of that application protocol based on this edition of this part of ISO 10303;
• the mapping tables of ISO 10303 application protocols based on the previous edition of this part of ISO 10303 remain valid in a revision of that application protocol based on this edition of this part of ISO 10303.

F.2 Changes made in edition 2

F.2.1 Summary of changes

The second edition of this part of ISO 10303 incorporated the modifications to the first edition listed below.

This second edition of ISO 10303-105 is not upward compatible with the first edition along the definition given above. However the principle concept on how to describe kinematics is unchanged. So all concepts from the first edition are preserved or transformed into equivalent concepts.

With this second edition a much deeper integration with the principle representation structure concepts as defined in ISO 10303-43 has been achieved. This allows a wider re-use of concepts in different variations, increasing the functionality during the design process. Also it is now possible to apply properties to low level concepts, e.g. a friction property to a kinematic_joint.

All entities from the first edition have either been directly modified or transformed into equivalent concepts, or are affected by modifications of their super-types.

Note: See ISO TC184 / SC4 WG12 N6610 for the main issues and rationales that lead to the incompatible changes.

Motion related concepts have been moved (and transformed) from the kinematic_analysis_control_and_result_schema to the kinematic_motion_representation_schema. As a result kinematic motion can be used without kinematic analysis.

F.2.2 Changes made to schema kinematic_structure_schema

The former kinematic_structure_schema has been split into 4 schemas:

• kinematic_property_schema;
• kinematic_topology_schema;
• kinematic_structure_schema;
• kinematic_state_schema.

F.3 Changes made in edition 3

F.3.1 Summary of changes

This third edition of this part of ISO 10303 incorporates the modifications to the second edition listed below.

F.3.2 Changes made to schema kinematic_motion_representation_schema

The following EXPRESS declarations and interface specifications have been modified:

• ENTITY interpolated_configuration_sequence
  ENTITY subtype expression changed .

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