Abstract：In order to implement interactive control of multi Degree Of Freedom (DOF) articulated industrial robot, an open control system for this kind of robot was designed. Hardware of the system was designed based on embedded industrial PC and Field Programmable Gate Array (FPGA). And the functional software of the system was modularized based on RT-Linux operating system. The interactive control signal was transmitted by shared memory of the system. And the system implemented interactive control through different M instructions defined in PLC program. The implementation of interactive control between a 3-axes articulated casting robot and 2 casting machines proves that the control system is a real open system, and it also has strong real-time control ability and reliability.