Soft packaging material stacking system with classification and sequencing functions was studied. The special manipulator was designed and manufactured to realize accurate capture of soft bag material. Accurate sequentially stacking of soft bag material was realized according to the identification of soft packaging material and using rectangular coordinate robot driven by AC servo motor and manipulator. The control system software was developed with Delphi7. 0 object-oriented programming language based on motion control card and industrial computer. Practical test results showed that the system can realize automatic stacking of soft bag material with correct classification and sequence.