The Java Fieldbus Control Framework-object oriented control of fieldbus devices

In this paper we present the Java Fieldbus Control Framework (JFCF) which provides an object oriented programming framework for the rapid creation of concurrent control tasks for fieldbus-based automation systems. Our framework is implemented in Java which is going to become more popular in the field of industrial control, due to the advent of dedicated Java real-time systems and the RealTime Specification for Java (RTSJ). We further describe an example application built within our framework consisting of an open Java control for a CANopen automation system featuring a SCARA robot arm, a transfer system and further peripheral fieldbus devices. Four independent tasks run concurrently to establish the overall automation process. In order to meet real-time requirements, the framework will be extended to comply to the RTSJ in the future. The reusability of object oriented software and the portability of Java code results in a reduction of costs for software creation and maintenance