In order to improve the accuracy and speed of dynamic grasping of Delta robot, a Delta robot control system based on OMRON NJ controller is proposed.Through the use of OMRON NJ motion controller and EtherCAT highspeed bus, the Delta robots motion control and external motion logic control were seamlessly connected, and the integrated control was realized. In order to improve the grasping efficiency, the Delta robot vision system was used to identify the position of the grabbing target and to remove the repeated image information. Then a dynamic grabbing algorithm was proposed to realize the perfect combination of machine vision and robot dynamic grabbing. Finally, the test of the prototype shows that the leakage rate of the Delta robot in the process of sorting and tracking target is less than 2%, and the error rate is 0. It shows that the system can meet the realtime requirements of the grasping system and has a certain application value in the actual project.