目的 对工业机器人码垛操作系统进行改进，使用三菱GS2110-WTBD触摸屏实现工业机器人便捷的操作控制与工作状态的直观监视。方法 三菱GS2110-WTBD触摸屏与PLC使用串口通讯，PLC与工业机器人使用以太网通讯，实现信息交互。外接控制按钮及传感器与QX40模块连接，QY10模块与工业机器人控制器I/O接口连接，三菱Q系列PLC控制三菱QD75P1N定位模块驱动供料进给。结果 编写PLC程序和机器人程序使得机器人与物料盘供料驱动相互配合，能实现对动态物体的精准抓取或放置。触摸屏设计可以实现不同码垛功能的选择和工作状态的监视。结论 该操作系统可使单台工业机器人灵活运用在变化的控制线上，可广泛应用在码垛工业机器人控制中。

The work aims to improve the stacking operating system of the industrial robot and achieve the convenient operation control and visual monitoring of the working state of the industrial robot with the touch screen of Mitsubishi GS2110-WTBD. Mitsubishi GS2110-WTBD touch screen and PLC used serial communication. PLC and industrial robots used Ethernet communication to achieve information interaction. The external control button and sensor were connected to the QX40 module, the QY10 module was connected to the industrial robot controller I/O interface, and the Mitsubishi Q series PLC controlled the Mitsubishi QD75P1N positioning module to drive the feeding. The programming of PLC and robot made the robot cooperate with the material supply driver, and could realize the precise capture or placement of dynamic objects. Touch-screen design could achieve the selection of different stacking functions and the monitoring of working state. The operating system can make a single industrial robot flexibly applied to the changing control line, and it can be widely used in the control of the stacking industrial robot.