The work aims to design a control system for the fully-automatic palletizing of shaped cigarettes to solve the problems of low packaging efficiency, high labor cost, and high error rate of cigarettes in China's tobacco logistics and distribution centers. A control system based on SIMATIC S7-1200 PLC, Kinco MT4523TE touch screen, YAMAHA robot controller RCX240 and IPC was designed. PLC was used as the main controller to achieve information interaction with touch screen and IPC through PROFINET communication and with YAMAHA controller through PROFIBUS communication. External control buttons, sensors, and servo drives were connected to the SM1223 and SM1231 signal modules of the PLC. The PLC processed the signals collected by the sensors and the data sent by the IPC. It cooperated with the robot controller to issue various control instructions, and realized fast, automatic, and accurate palletizing of special-shaped smoke through the coordinated actions of various agencies. The control system can automatically identify the length and height of shaped cigarette. The palletizing error rate was ≤0.006%, and the automatic palletizing function can be performed. The smoke loss rate was ≤0.005%, and the equipment failure rate was ≤0.5%. The stacking efficiency can reach 3861 nos/ n. The system ran stably. The control system greatly improves the palletizing efficiency of shaped cigarettes, reduces the production cost, has good reliability and stability, and meets the requirements of efficient and stable operation of the tobacco logistics distribution center.