This paper proposes a new model, based on a Petri net(PN), for controlling flexible manufacturing systems(FMSs). The proposed model can describe not only normal sequential processes but also interruptive exceptional handling processes by means of simple structures. A layered structure and two types of token are introduced into PN to describe exception handling and error recovery. An application in which this model was used to program a programmable logic controller(PLC) is also described. The description of cell control can be simplified by t h e proposed model.
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