At present, the mainstream industrial robot control system, which adopts a closed structure, has problems with non-open sources and secondary development difficulty. Therefore, a cross-platform robot control system architecture with good portability based on the windows control and automation technology (TwinCAT3) was designed. In the architecture, vision, motion control, algorithm integration and simulation control modules were integrated. The automation device specification (ADS) and ethernet for control automation technology (EtherCAT) communication technology were used. With PC and Beckhoff controller as the EtherCAT master station, one master multi-slaves' working mode was designed to control multiple sets of slave actuators. To complete the linkage between the virtual prototype and physical prototype, this mode combined offline and online control, and integrated digital twin technology. It adopted open-source and scalable architecture, which facilitated the integration of vision algorithms, intelligent algorithms, etc. Experiments verify that this architecture has the characteristics of good scalability and great real-time performance.