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Figure 12. Screenshot of the NC CS VRM program

Figure 13. Screenshot of the PLC-CS VRM program: PLC VRM is operated by PLC machine which is installed under the cleaning machine

[3] ISO 9506-3: Manufacturing Message Specification - Companion standard : Protocol specification of Robot, 2000

[4] ISO 9506-4: Industrial automation systems - Manufacturing Message Specification - Companion standard : Protocol specification of NC, 2000

[5] ISO 9506-5: Industrial automation systems - Manufacturing Message Specification - Companion standard : Protocol specification of PLC, 2000

[6] ISO 9506-6: Industrial automation systems - Manufacturing Message Specification - Companion standard : Protocol specification of Process Control, 2000

[7] MAP 3.0 Specification 1993 Release

[8] D.S.Kim, K.Y.Cho, W.H.Kwon, Y.I.Kwan, and Y.H.Kim ”Home Network Message Specification of White Goods and Its Application ”, pp. 1-10, vol. 48, No.1, IEEE Transaction on Consumer Electronics, Feburay, 2002

[9] DIN 19 245, 1993, Profibus Standard, Pro bus Trade Organization. [10] WorldFIP, 1995, General Purpose Field Communication System, prEN, 50170.

[11] D. Brugali, D. Dragomirescu and etc, ”A customizable software Infrastructure for Virtual Factories De- velopment”, Proceedings of the IEEE International Conference on Robotics and Automation, 1999, vol. 3, pp. 2440-2445

[12] F. Florent, ”Experiences with a control architecture for the virtual factory”, IEEE International Workshop on Robot and Human, 1999, pp. 387-393

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