Abstract: A method of arrangement of centralized network motion controller employing centralised topology having a plurality of remote units as system architecture comprising the steps of: (i) providing, using synchronised messages, all system and axes data to a centralized processing unit, wherein the data is updated down to a control sampling rate and all the data items are available from each remote unit, (ii) the centralized processing unit performing system behaviour control and multi axes profiling and motion control such as position, velocity and current, (iii) synchronized messages from the centralized processing unit are used to set the timing and to keep continuous synchronization of all units and to transfer the desired low level commands to the remote unit.