The work aims to design a modular teaching palletizing robot control system in order to realize real-time and fast control of palletizing robot. The teaching system of embedded module was developed with 1802 chip as the core. The upper computer modular teaching system was developed with QT tool and used to fast set the route and accuracy of palletizing robot. The teaching signal was transmitted to the control system of the palletizing robot by wifi or serial module. Utilizing high-speed pulse drive circuit and closed-loop control locating program, the control system ordered the robot to handle cargos in fast and precise means according to instructions. The point to point carrying experiment showed that the positioning precision of the system could reach 0.3 mm and the rotation error within 0.1 degrees. The maximum relative error for horizontal positioning of robot was 0.45% and the maximum error for rotation angle was 0.83%. The experiment proves that the system can meet the need of transportation quickly according to the user's setting.