Abstract: For the current mining spraying manipulator operation is not flexible, spraying effect is poor, vulnerable to interference and other issues，spraying manipulator driven system with low cost and high practicability was realized in this paper. A control system is designed in this paper to complete the operation mode of the stepper motor based on S7-200PLC and 2MA86H drive, which can realize the precise position control. Through the control of x-y axis mine spraying manipulator, it verifies that the system operation is simple, efficient, stable, energy conservation, environmental protection, strong anti-interference ability, can be widely used in a variety of mining equipment for spraying.