This paper explains the structure of the control-program-processor SoC,the logic control processing IP core, the motion control processing IP core and their instruction set,and discusses the method of the SoC's software and hard-ware col aborative designing.It also implements the design of the SoC and made the verification.%阐述了控制程序处理器片上系统(SoC)的系统结构、逻辑控制处理IP核和运动控制处理IP核及其对应指令集,并讨论了该SoC软硬件协同设计的方法。对SoC进行了设计实现和流片验证,该SoC不仅在支持的功能和性能上可以不亚于基于嵌入式系统设计的通用控制器,而且可以简化控制系统的开发,缩减系统的开发周期和成本。
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