Aiming at the requirement of the Cartesian coordinate marking manipulator based on Beckhoff PLC to move smoothly and accurately in the marking operation,a smooth jerk S-curve was developed to replace the trapezoidal acceleration and deceleration trajectory built in PLC,and the accuracy loss caused in the numerical conversion process was compensated three times.For two different types of identification,fixed identification and flight identification,asymmetric harmonic jerk AS curve and sinusoidal jerk S curve were used for kinematic trajectory planning,the smooth operation and accurate positioning of laser identification equipment can be effectively realized.The results show that each axis of the identification equipment is stable and the end position is accurate.The research results can also be applied to the smooth start-stop and accurate positioning occasions of high-precision machine tools.