中文摘要：

基于PLCopen标准，结合PLC（可编程逻辑控制器）编程和运动控制编程，设计并实现了一种运动控制器。此运动控制器采用PLCopen标准定义的功能块模块模型，一方面达到了PLCopen标准定义的运动控制要求，另一方面实现了运动控制器的图形化编程模式。为了满足PLCopen定义的功能块模式的变换，在研究PLCopen标准定义的模块间关系基础上，设计了一种打断锁，通过对打断锁的操作，实现了PLCopen标准定义的模块间不同模式的交互方式。最后，在基于Beremiz开源开发平台上，以单轴模块验证了运动控制系统的可行性。

英文摘要：

The control system was designed based on PLCopen standard,which was consisted of mo-tion control and PLC （programmable logic controller）control.The motion control system used graph-ical programming language,and the model of function blocks in PLCopen standard was adopted.In order to realize the aborting function defined in PLCopen standard,the mechanism of aborting was de-signed based on the realization of the communication among function blocks.Lastly,the function blocks of single axis were verified based on Beremiz platform,and the system was feasibility.