Based on a magnetic shoe manipulator as the research object, ARM11+WinCE60 were used as the supervisory controller, and ARM11+μC/OSII+FPGA are used as the underbit computer. RS485 bus was used to transfer data, status and control commands. A design scheme was proposed for the control system of magnetic shoe manipulator of cantilever in the magnetic materials industry. The host computer was communicated with the lower machine, to communicate and couple the manipulator with press. It was verified of the feasibility and progressiveness of the magnetic shoe manipulator of control system. Now the system has been put into use, which results show the system is practical, reliable, and works well, and achieves the desired functional requirements.