False twist texturing machine control system for controlling doffing robot

The invention discloses a false twist texturing machine control system for controlling a doffing robot. A plurality of modules of the control system supervise and control the doffing robot, and the modules are an actual doffing time detection module, a preset doffing time module, a calculation module, a robot waiting module, a delay time module and a comparison module. Thus, the doffing robot can react to unexpected temporal changes that may be caused by the doffing robot itself or an obstacle that affects the doffing robot. 本发明公开了用于控制落筒机器人的假捻变形机控制系统。所述控制系统的多个模块对所述落筒机器人进行监督和控制，这些模块分别是：实际落筒时间检测模块、预设落筒时间模块、计算模块、机器人等待模块、延迟时间模块和比较模块。因此，所述落筒机器人能够对可能由所述落筒机器人本身或影响所述落筒机器人的障碍引起的意外时间变化做出反应。