Patent ID: 7784061

Claim:
A system in communication with a host system and for allowing communication among processing nodes in a system, comprising: a communication node executing a host communication object; an electro-mechanical component; a work management object, host communication object, and a motion object; a component node controlling the electro-mechanical component and executing the motion object; a controller node executing the work management object, wherein the controller node manages system commands, wherein the host communication object receives a command from the host system to instruct the motion object executing in the component node to control the electro-mechanical component of the system to perform an operation, wherein the host communication object generates a message, including the command to instruct the motion object, to send to the work management object, wherein each of the communication, controller and component nodes includes a processor capable of multitasking multiple program objects and a communication interface to transmit and receive data between the nodes; source program logic implemented in the communication, controller and component nodes, wherein the node executing the source logic comprises a source node, wherein the source program logic causes the source node processor to perform: receiving a request from a source object executing in the source node to send a message to a destination object executing in a destination node; determining whether the destination node and source node are a same node; invoking an operating system command to transmit the message to the destination object within the source node if the destination node is the source node; and transmitting the message to the destination node through the communication interface if the destination node is not the source node; and destination program logic implemented in the communication, controller and component nodes, wherein the node executing the destination logic comprises a destination node, wherein the destination program logic causes the destination node processor to invoke an operating system command to transmit the message received from the source node to the destination object within the destination node.