BS ISO/IEC 9506/3 : 1991

1 Scope
2 Normative References
3 Definitions
3.1 General definitions
3.2 Specific definitions
4 Abbreviations
5 Robot application description
5.1 Manufacturing configurations
5.2 Robot specific model
5.3 Robot specific functions
6 Robot application specific context mapping
6.1 Mapping the robot model to the VMD object
6.2 Robot specific objects that map to Domains
6.3 Robot specific objects that map to Program
      Invocations
6.4 Definition of robot-specific objects which map to
      other MMS abstract objects
6.5 Definition of new MMS abstract objects to support
      other robot-specific objects
7 Robot specific services and protocol
7.1 Robot application context definition
7.2 Robot specific abstract syntax definition
7.3 Use of MMS services
7.4 Definition and use of robot specific services and
      protocol
7.5 The initiate service and protocol
7.6 End of module
8 Robot specific standardized objects
8.1 General
8.2 Standardized Domain objects
8.3 Standardized Program Invocation objects
8.4 Standardized Named Type objects
8.5 Standardized Named Variable objects
8.6 Standardized Semaphore objects
8.7 Standardized Event Condition objects
8.8 Standardized Event Action objects
8.9 Standardized Event Enrollment objects
8.10 Standardized Operator Station objects
8.11 Standardized Journal objects
9 Robot conformance classes
9.1 General
9.2 Robot server conformance
9.3 Robot client conformance
9.4 PICS
A Example (informative)
A.1 Background
A.2 Manufacturing scenario
A.3 Operation
A.4 The robot VMD description
A.5 Operations using MMS services
B Future issues - higher conformance classes
      (informative)
B.1 Robot server conformance classes
B.2 Robot client conformance
Figures
1 Robot system
2 Robot server/single client
3 Robot server/many clients
4 Robot client
5 Peer to peer
6 Information flow
7 Robot coordinate systems
8 Robot operation states
9 MMS mapping process
10 IDLE state diagram
11 Example scenario
Tables
1 Local control
2 Robot status detail
3 CS-CreateProgramInvocation-Request parameter
4 CS-Start-Request parameter
5 CS-Resume-Request parameter
6 CS-GetProgramInvocationAttributes-Response
      parameter
7 VMDStop service
8 VMD attributes / VMDStop
9 VMDReset service
10 Select service
11 AlterProgramInvocationAttributes service
12 Init Request Detail
13 Init Response detail
14 PICS Additional service CBBs
15 PICS Local implementation values

Specifies the model of a robot and how the attributes of the robot are mapped into the attributes of a Virtual Manufacturing Device, defines the robot specific services and protocol including the abstract syntax notation for protocol elements requiring companion standard specification by MMS, defines robot specific standardized objects and gives a description of conformance classes including a base class and several enhanced classes.