The invention relates to the technical field of truss robot equipment, in particular to a truss robot Z-axis manipulator impact type compensation device and a compensation method thereof. The truss robot Z-axis manipulator impact type compensation device comprises a cross beam and a vertical beam arranged on the cross beam, and a manipulator is arranged on the vertical beam. The truss robot Z-axismanipulator impact type compensation device further comprises a stand column, a microswitch and a processing unit, wherein the stand column is installed on the ground, the microswitch is arranged onthe stand column, the manipulator is opposite to the microswitch, and the vertical beam is provided with a first drive device for driving the manipulator to move close to or away from the microswitch.When the truss robot Z-axis manipulator impact type compensation device and the compensation method thereof are in use, through touch between the manipulator and the microswitch as well as analyticaljudgment of the processing unit, the processing unit controls the first drive device to drive the manipulator to move close to or away from the microswitch, and therefore deviation of the vertical beam caused by temperature can be controlled.