目前的運動控制產品，常缺乏互通的運動控制函式，導致產品的功能升級、維護和自動化設備整合困難、無法隨時依照使用者需求，靈活調整運動控制軸數數量。本論文提出一個基於PLCopen的分散式運動控制設計架構，並使用工業總線即時通訊協定Modbus作為網路協定，透過主從架構的通訊，能快速的確認從端的狀態，達到解決運動控制單元的增加、刪除和故障偵測功能，在Modbus架構中也設計了一個基於IEEE1588時間同步協定的時間戳功能和同步機制，同時以GRAFCET圖形設計描述設計此系統的行為，藉由此平台使用者可以更加快速及明確的達到開發與部署的目的。最後藉由此PLCopen的分散式運動控制平台，在此採用了IEC61131功能模組標準協定作為分散式運動控制，我們將使得運動控制精度更高、速度更快、運動更加平穩，展現分散式運動控制的優勢。;The current motion control products. Often a lack of interoperability of motion control function. Lead to product feature upgrades, maintenance and automation equipment integration difficulties, can not at any time in accordance with the needs of users. Flexibility to adjust the number of axes of motion control. This paper presents a distributed based on PLCopen Motion Control Design Architecture and use instant messaging protocol Modbus industrial bus as a network protocol. Through the master-slave communications architecture to quickly determine from the state side, to increase to solve the motion control unit, delete and fault detection. In Modbus architecture is also designed an IEEE1588 time synchronization protocol based on timestamp function and synchronization mechanisms. While GRAFCET graphic design to describe the design of this system behavior, with this platform users can more quickly and explicit purpose of the development and deployment. Finally, distributed by the PLCopen motion control platform, in this function module using IEC61131 standard agreements as a distributed motion control. We will make motion control higher accuracy, faster, more stable movement, to show the advantages of distributed motion control.
