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In modern manufacturing systems, various industrial communication systems (e.g., fieldbus systems and industrial Ethernet networks) have been used to realize reliable information exchange. However, these industrial communication solutions are largely incompatible with each other, which do not satisfy the new requirements of Industry 4.0. Recently Time-Sensitive Networking (TSN) has been developed to improve the real-time capabilities to the standard Ethernet, and is considered to be a promising real-time communication solution for Industry 4.0. In this work, we propose a communication architecture for a manufacturing system using the Open Platform Communications Unified Architecture (OPC UA) and TSN technologies. TSN is adopted as the communication backbone to connect heterogeneous industrial automation subsystems. The OPC UA is adopted to realize horizontal and vertical communication between subsystems in the field layer and the entities of the upper layers. We implement a laboratory-level manufacturing system to validate the proposed architecture. The experimental results demonstrate the feasibility and capability of the proposed architecture. Moreover, we evaluate the performance of a key TSN substandard, i.e., IEEE 802.1Qbv, in the laboratory-level manufacturing system. The evaluation results demonstrate that IEEE 802.1Qbv can indeed provide excellent real-time capabilities for industrial applications.