Abstract: In order to solve the problem of coil spanning and protruding caused by the abrupt change of guide wire velocity in the winding process of electromagnetic switch coil, an acceleration and deceleration motion control routing algorithm based on five-section S-shaped curve is proposed by analyzing the wiring working principle of winding machine. In order to solve the speed impact in the process of winding wiring, ADAMS software was used to simulate the process of electromagnetic winding wiring, and the velocity change curve and displacement curve in the process of motion were obtained, which verified that the S-shaped curve could reduce the impact of the speed change of winding wiring. The feasibility of the algorithm is verified by an example, and the conclusion that five-section S-shaped curve can improve the alignment precision of the winding machine is obtained.