The automatic control stacking machine gradually replace manual palletizing along with the rise of logistics equipment manufacturing industry and the development of automation technology. A special control system for food packaging box stacking machine is introduced. The PLC is used to carry on the servo and the frequency conversion control to the elevator motor and the traveling motor respectively. And the precise position control and the speed control of the movement of the manipulator are realized. The reliability and efficiency of stacking is improved. It is more intuitive and convenient to the operator by the use of HMI, and is useful to the monitoring and maintenance work of the stacking machine system.