A virtual debugging method for motor base palletizing line based on simulation platform NX MCD was proposed to address the high cost of on-site debugging of production systems jointly controlled by PLC and ABB industrial robots,as well as the difficulty of driving robot simulations on simulation platforms.A simulation model of the production line was constructed in NX MCD based on digital twin technology.A communication framework for virtual debugging solutions was designed,mainly including secondary development of robot simulators to achieve control and data reading of robots.Finally,the real-time transmission and feedback of signals and data between PLC control,robot control,and NX MCD model were completed using OPC UA technology to complete the joint debugging of the production line.The simulation results show that the virtual debugging scheme for the motor base stacking line based on NX MCD is feasible,can timely avoid production line defects,shorten debugging cycles,and reduce development costs.