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There is an increasing demand for motion control of Internet of Things devices such as drones and industrial machines from large computational resources on the network side. Since the delay between communication devices adversely affects the control performance, utilization of low-latency platforms such as edge computing is promising. However, no other study focuses on architecture and control methods in optical access network for motion control. We aim at realizing the access edge that performs real-time motion control on an edge server located in a central office. This paper proposes an access edge configuration and a control method that offers time-varying delay compensation based on delay information. We evaluate control performance of our method when delay is increased and packet loss occurs under a high network load environment. We demonstrate that when the downstream traffic changes from …