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).

中文翻译：

---

嵌入式PLC中运动控制的定制实时编译

通用可编程逻辑控制器（PLC）难以适应多变的应用，特别是对于那些具有特殊运动控制的应用。这严重影响了开发效率。本文介绍了嵌入式PLC（ePLC）的概念，其硬件结构可以根据实际需求进行定制。我们提出了一个三层体系结构，其可定制的应用程序层可以实时编译。相应地，PLC程序被分为引擎程序，控制程序和定制程序。提供了定制程序的描述和编译方法。我们基于提出的ePLC软件结构提出了一种定制的绕线机语言。这是在自动绕线机中实现的