Figure 10. Screenshot of 6-axis the Robot VRM program
Figure 11. Screenshot of 4-axis the Robot VRM program
A virtual factory communication system using the general MMS, its CS part, and the robot VRMs, NC, PLC, and PC were designed and implemented. The applicability of the described-here virtual factory using the MMS and its CS part can be extended to the MMS implementation of a practical plant. In particular, the implemented system can be used as design guideline of an MMS system for practical plant. Furthermore, the developed virtual factory communication system and the VRMs can also be used for the verification of the operation of a real factory automation environment.
The authors acknowledge the partial financial support for this work by the Post-doctoral Fellowship Program of Korean Science and Engineering Foundation (KOSEF). The author also thanks the ERC-OTT members for their comments.
 ISO 9506-1: Industrial automation systems - Manufacturing Message Specification - Part1 : Service defi- nition, 2002
 ISO 9506-2: Industrial automation systems - Manufacturing Message Specification - Part2 : Protocol specification, 2002