Under the correct guidance of national policies,the manufacturing industry is undergoing transformation and upgrading to realize digitalized,networked and intelligent production management,so as to reduce labor force,reduce production costs and improve product quality.In the transformation and upgrading,truss manipulator is widely used in the processing integrated production line or single machine loading and unloading to replace the traditional manual loading and unloading mode.Trussed manipulator control unit is generally adopted outside,and interconnect and communicate with the host through IO points.In this way,the stability is poor,the cost is high,and the connection debugging and maintenance are cumbersome.A parallel controller PEXC based on numerical control system was proposed,and the parallel control module of the truss manipulator with built-in numerical control system was developed.Machine tool processing and manipulator loading and unloading were parallel controlled by using KBSS bus communication mode,so as to solve the cumbersome connection,debugging,maintenance,poor system stability and high cost of complicated issues.The developed control module of the truss manipulator has achieved satisfactory results in practical application.