In the field of automatic fuel cell production, industrial robot (IR) is widely used in the stacking process. However, with the increasing scale of fuel cell bipolar plate (BPP), the previous control means has been difficult to adapt to the increasing demand for motion accuracy and more complex collaboration needs. In this paper, based on the socket communication module and interrupt module of the STEP SR20, a robot external coordinator software framework is developed to collaboratively control the robot and other devices. With the electromechanical system controlled by this framework, we realized task of dynamic trajectory planning and execution according to the data of accessed multiple sensors, actuators. The software controller has been tested in the automation stacking of large-scale fuel cell BPP and reached the accuracy demands.