Fig. 1. Implementation process of PLCopen function block

Fig. 2. Functional block hierarchical structure

Fig. 3. Rapid development process of function blocks

Fig. 4. Structure tree of function library

Fig. 5. Function block types

Fig. 6. Result of function block execution

Fig. 7. Test curves of interpolation function block

Fig. 8. Architecture of domestic PLC control test system

Fig. 9. Motion model and control system of rotating double prism

Fig. 10. Rotating double prism experimental platform

Fig. 11. Light path

Fig. 12. CNC functional library experimental system

Fig. 13. Target repair trajectory

Fig. 14. Acceleration and velocity curves

Fig. 15. Interpolation trajectory