Based on analyzing the function of a kind of manipulator,the thesis gives a controlling method for the manipulator by using HNC inherent PLC technique, and lists the original codes of PLC program.

• 在详细分析喷油嘴中孔座面磨床自动上下料机械手的功能基础上,利用华中数控系统内置PLC技术设计了一套控制系统,并给出了详细的源代码。