As the main mechanical equipment of pipe bending forming, pipe bending machine was more and more widely used in all walks of life. With the improvement of competitiveness, the market had put forward higher requirements on the efficiency and automation of the pipe bending machine. Aiming at the characteristics of side bending machine, a servo motion control system based on EtherCat bus was proposed. The control system had more powerful data processing ability, which could ensure the dynamic continuity and control accuracy of each axis. The needs of pipe benders with different sizes and angles could be fully met.