| PID control (Proportional Integral Derivatives) is the development of controls that serve to control the system. In the robotics world, PID controls on arm robots. In Indonesia, robot control systems can still be controlled by foreign vendors and. In this Final Project, it will design a six-degree rotation robot control system using PID with an accuracy of ± 0.5 degree which has small overshoot value, fast and stable settling time. The method for determining PID position control using the Ziegler-Nichols method used to determine the cost of PID is the value of Kp, Ki, and Kd through the experiment. Then, this parameter of PID constant is used to detect motion of motor in robotic control system. The robot control system is used by Can Bus, where the input system of the computer can be centered on one microcontroller (Master) to instruct another microcontolator to move the stepper motor on the robot arm. Can Bus is a serial network, which is sent and shown data in the form of Hexadecimal numbers with a maximum of 8 data bytes. Based on the results of design and experiments, a robot control system has been generated with PID constants of each motor type, ie for NEMA 23 Value Kp = 155, Ki = 2, Kd = 21, while NEMA 34 Kp = 350, Ki = 5, Kd = 10 |