Most of traditional PLC rely on special hardware or software,their software and hardware system are unique and closed,with insufficient openess and expansibility,and field data has low real time transmission ratio.Aimed at these problems,a softprogrammable logical controller (PLC) motion control scheme was presented based on industrial personal computer (IPC)which utilized EtherCAT fieldbus protocol communication.The communication bus of scheme had functions of distributed clock technology,with using of standard ethernet protocols,without special network card,which was able to implement synchrocontrol of multiplespindle with high accuracy,suitable for high speed robot in need of high precision servo control.Experimental analysis was carried out on the high speed parallel robot DETLA2 by using this scheme.The result shows that the control scheme makes the motion control performance of robot a great improvement.