Abstract: With the continuous expansion of computing and communication functions of modern embedded platform, the development of reconfigurable manufacturing system based on Internet of things technology. Based on the control interpretive Petri net （CIPN）, the CIPN model of industrial IoT controller is transformed into TPN model, which was coupled with the factory and security aware channel model. The system level security performance verification was realized in the network-based attack. The model was evaluated in a practical application case studywhen an attack occurs, the message can be blocked after picking up the workpiece from the soaking pool by enabling carrier transmission on the transceiver. The applicability of the developed safety automation framework in distributed pneumatic manipulator was proved.

Key words: Internet of things, automation, Petri net, nondeterministic analysis