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Figure 6. The practical model of an 6-axis robot VRM

Figure 7. The practical model of an 4-axis robot VRM

robot made by HYUNDAI Heavy Inc. (Fig. 6) and the 4-axis scalar robot made by SAMSUNG Heavy Inc. (Fig. 7). The 6-axis robot is used for conveying the material with pallet throughout the implemented virtual system. The 4-axis robot takes part in a bolt assembling task of the overall process.

NC-CS VRM is modelled after an NC machine (TNV-40) made by TONGIL HEAVY Inc. (Fig. 8). NC-CS VRM is responsible for drilling a hole in the sample material.

The application program of PLC-CS VRM is modelled after a cleaning machine with an air compressor and clamps. It is controlled by PLC which is installed under the cleaning machine. PLC-CS VRM takes part in the cleaning works of assembled parts after The drilling process performed by the NC-CS VRM (Fig. 12).

The Process control VRM program can be scheduled for all the machines with the autonomous guided vehicle (AGV) movement. The CS application program includes all the VRMs, the common MMS, and MMS- CS services. The simple test scenario of the application program is presented in Fig. 16. All machines are operated in accordance with their scheduled operation scenarios and the operation scenarios can be modified by the MMS user.

The test scenario begins with the AGV VRM idling status at station 4. The station 4 is starting and ending station in the developed virtual factory. AGV VRM loads a palette from station 4 (assuming that the AS/RS is aside) and move to station 1 for unloading the palette. In station 1, the NC VRM execute a hole drilling process in the material. After finishing the drilling process, AGV VRM loads the palette and moves it from the

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