This　design　includes　both　the　hardware　system　and　software　system.　The　control　system　can　not　only　achieve　the　motion　control　but　also　can　realize　simulation.　Hardware　system　is　constituted　by　Parallel　Robot　Body,　Embedded　IPC　(Industrial　Personal　Computer),　servo　drive　and　motor　system,　EtherCAT　module　and　I/O　module　and　so　on.　Software　system　realized　by　the　Automation　software　CODESYS,　which　including　motion　control　program　and　simulation　module.　The　experiment　and　program　result　showed　that　the　system　is　working　well,　practice　and　reliable.