Aimed at the recent existing control systems of omni-direction robot of structure of complexity and low reliability, a new motion control system of robot was proposed based on embedded PC. The EtherCAT bus terminal modules connected to the controller were used for detecting the signals from sensors and driving motors. The modular integrated hardware was implemented making the system more compact. Fuzzy control algorithm was used to track the path. The execution of program was more efficient for modular design accomplished by soft PLC task configuration. Experiment result shows that the motor is robust and the response is rapid. Robot can accurately track the predetermined path. It verifies the validity and stability of the control system which is suitable to be applied in complex environment.