Fig. 1. Schematic diagram of programmable control system development stage

Fig. 2. Schematic diagram of FCS system composition

Fig. 3. Technical architecture of fieldbus programmable control system

Fig. 4. Schematic diagram of autonomous PMC system

Fig. 5. Master station hardware architecture

Fig. 6. Schematic diagram of slave station hardware

Fig. 7. Schematic diagram of real-time Ethernet data transmission

Fig. 8. IDE functional schematic

Fig. 9. Schematic diagram of HMI software framework

Fig. 10. PLCopen specification composition

Fig. 11. Working principle of PLCopen motion control functions