摘   要：为了提高混凝土预制构件生产线效率，以台湾新代的HC10A一体化控制器为控制核心，采用开放式数控系统的结构形式，设计了四轴置模机械手的控制系统。分析了机械手的结构与功能，在此基础上设计了控制系统的硬件组成，实现了伺服电机的闭环控制，根据机械手工作流程的特点，完成了控制器的软件编写。该控制系统具有性能稳定、控制精度高、操作简单、可靠性高、使用维护方便，易于实现机电一体化等优点，能满足置模需求，符合工业应用要求。 

Abstract: To improve the production efficiency of the concrete prefabricated parts production line, a control system for four axis motion of the manipulator is designed which uses the structure form of open CNC and takes HC10A integrated controller of SYNTEC as the control core. The structure and function of the manipulator are analyzed, and the hardware structure of the control system is designed on the basis of this. The software system is completed according to the requirement of the characteristic of the work flow. The control system has the advantages of simple operation, safe, efficient and stable, strong anti-interference ability, safe and stable performance, high control precision, which can meet the demand scale, in line with the industrial application requirements.