中文摘要：

针对三轴运动控制装置,基于CoDeSys开发环境和ARM Cortex-A8芯片,设计了一款基于EtherCAT的嵌入式软PLC主站控制平台.首先,进行了嵌入式Linux系统的移植,包括：Boot loader的移植、嵌入式Linux内核移植和编译制作Linux文件系统,并采用抢占式补丁的方式来提高嵌入式Linux内核的实时性.进而载入CoDeSys Runtime构建了嵌入式软PLC实时运行系统（RTS）.在此基础上,依据PLCopen规范采用ST语言以及CoDeSys Softmotion提供的功能块设计了三轴数控系统,并在该数控系统上进行了雕刻加工实验,验证了所设计系统的可行性.

英文摘要：

Based on CoDeSys development environment and ARM Cortex-A8 chip,an embedded soft PLC master station control platform on EtherCAT is designed for the three-axis motion control device.First of all,the embedded Linux system is transplanted,which includes the transplantation of Boot loader and embedded Linux kernel,and both the compilation and production of Linux file systems.The real-time performance of the embedded Linux kernel is improved by means of using preemptive patches.The embedded soft PLC real-time system（RTS）is built by loading CoDeSys Runtime.According to the PLCopen specification,a threeaxis NC system is designed using the ST language and the function blocks provided by CoDeSys Softmotion.The engraving experiment is carried out on the NC system.The experimental result proves the feasibility of the designed system.