With the commercilization of the technology of underwater robot, people begin to pay more attention to the general real time control software for underwater robots.

There are large-scale applications of real-time control software which lies embedded in various systems now.

In order to satisfy the request of high speed, high precision of Real-Time motion control, this paper is based on the exploited motion controller, designing model and making research of Real-Time motion control software .

To develop and run environment problem of the real-time telemetry and control software system,this paper simply introduces the functions and important role of the hardware timing equipment in the course of real-time telemetry and control as well as the time managing method of the real-time operation system.