The present invention discloses a servo control system and a servo. A servo control system includes a main control module; and a communication module including a first communication interface, a second communication interface and a control switch unit. First communication terminal and second communication terminal of the control switch unit are correspondingly coupled to the first communication interface and the second communication interface. First enabling port and second enabling port of the control switch unit are correspondingly coupled to two enabling terminals of the main control module. The main control module receives, via the first enabling port, the first communication terminal and the first communication interface, an identification number or an identification number together with action instruction information from a servo of upper level, and transmits, via the second enabling port, the second communication terminal and the second communication interface, an identification number or an identification number together with action instruction information of a servo of lower level. In the above manner, the present invention can assign an identification number to a servo during initialization of the servo, avoiding the installing inconvenience caused by that servo identification numbers are fixed.