The invention discloses a control system of a live working tool for a live working robot of a transformer substation. The control system comprises a control module for sending control commands throughWIFI communication and Ether CAT communication, and processing the collected limit switch signal, and generating and outputting the control command according to the limit switch signal; a signal receiving and dispatching module for sending the analog signal output by the main controller to the servo valve through the Ether CAT communication, and sending the switch amount signal output by the limit switch and the photoelectric switch to the main controller through the radio frequency communication in remote; a driving module for driving the execution and protection module to perform corresponding actions according to the control instruction; and the execution and protection module for executing the analog signal of the analog output and outputting the corresponding switch amount signal when the actuator moves to the limit position.