Abstract: At present,with the development of the warehousing and logistics industry,workers are very hard when they repeated handle heavy goods.In order to reduce the burden on workers,improve the automation level of the warehousing and logistics industry,raise working efficiency,designed the four-coordinated axes truss manipulator,which can carry heavy boxes instead of workers.The equipment provides users with two operating modes——solo mode and on-line mode.The cores of the control system are industrial computer and Programmable Multi-Axes Controller (PMAC),which was used for four-coordinated axes.The actuator is YASKAWA servo motor with absolute pulse coder,which can move precisely.

Key words: truss manipulator, PMAC, four-coordinated axes, absolute pulse coder