A continuous robot master and slave station control system based on EtherCAT was proposed to solve the problems of low real-time performance and poor stability in the control of continuous robot.In the control system,a protocol stack SOEM was used in the master station,running on Linux operating system with real-time kernel Xenomai;and the slave controller was designed with AX58100+ as slave controller and STM32F407 as slave microprocessor,the hardware and software design of the slave control board was completed.A control system test platform was built,task scheduling test and real-time test were made.The test results show that the maximum scheduling delay of the master station is 27.367 μs,the transmission cycle of the system is 1 055 μs,and the communication jitters are up and down 10 μs.It shows that the master station and slave station have good real-time performance and stability.