The invention discloses a field bus-based PAC (Programmable Automation Controller) industrial robot control system which comprises a robot axis servo control unit, a high-speed real-time Ethernet field bus, a man-machine interaction, a PAC, and a plurality of input-output modules, wherein the robot axis servo control unit is used for controlling and driving axle joints of manipulators of an industrial robot, the PAC is used for controlling the robot axis servo control unit and the man-machine interaction unit respectively and are respectively connected with the robot axis servo control unit and the man-machine interaction unit, and the plurality of input-output modules are extensibly arranged and are respectively connected with the robot axis servo control unit through the high-speed real-time Ethernet field bus. The system can be used for overcoming the defects of being unreasonable in structure, inconvenient to install and maintain, low in reliability, poor in precision, high in cost, poor in extensibility and the like in the prior art, so as to realize the disadvantages of being reasonable in structure, convenient to install and maintain, high in reliability, good in precision, low in cost and good in extensibility.