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.