New stage of global industry is coming with the new requirements to the IACS (Industry Automation Control System), e.g. flexible manufacturing, small batch and customized production.So far, most of IACS modeling methodologies are concerning on the description to specified domain of computing subsystem, e.g. the architecture of computing hardware and software. In this paper, a physical-effect-considered formal modeling method for pipelined manufacturing machine is addressed. The formalism can be used to not only drive valid control and cooperation of different modules, but also validate the solution of sequence of operation planning (SOP) in the design phase.