A Customized Real-Time Compilation for Motion Control in Embedded PLCs

General programmable logic controllers (PLCs) are difficult to adapt to changeable applications, especially for those with special motion control; this has seriously affected the development efficiency. This paper presents the concept of the embedded PLC (ePLC), whose hardware structure can be customized according to actual requirements. We proposed a three-layer architecture, and its customizable application layer could be compiled in real time. Correspondingly, the PLC program was divided into an engine program, control program, and customizing program. The description and compilation method of the customizing program was provided. We presented a customized winding machine language based on the proposed ePLC software structure. This was implemented in an automatic winding machine, which was easier to use compared with some widely used languages (e.g., G-Code).