Abstract: Magnetic field measurement bench is one of the most important facilities to measure magnet and undulator in accelerator domain, and it needs a precise and fast control system to work.Recently, a magnetic field measurement bench was built at Institute of Applied Electronics, China Academy of Engineering Physics.Based on Universal Motion and Automation Controller (UMAC), we designed and developed the control system.The system has a two-level control structure including the upper computer and the lower computer UMAC, which gives full play to their respective advantages: the lower computer can control motor action fast and directly, therefore the programs at the lower machine are responsible for controlling go-stop movement of the 6-axis motion bench; the upper computer has substantial capacity of data processing and storage, therefore the man-machine interface at the upper computer is responsible for collecting, saving and displaying magnetic field data, and it also finishes setting measurement parameters and monitoring work status of magnetic measurement bench.The simultaneity of the two level computer actions is ensured by trigger signals.