采用的是CODESYS编程完成了自动化仓库的的控制，有仓位选择、出仓进仓等自动动作，还有CODESYS中可视化界面的编写等内容-Automatic action is completed CODESYS programming automated warehouse control, positions choose a warehouse Jincang CODESYS visual interface preparation

本文件运用CODESYS编写一个3自由度的机械臂的上升、下降、伸长、缩回、左旋、右旋，抓取和放下等动作控制。-This document use CODESYS the preparation of a three-degree-of-freedom manipulator rise, decline, elongation, retracted, left-handed, right-handed, crawl and put down the motion control.