An EtherCAT master-slave station integrated bridge controller, a control method, a control system and a readable storage medium are provided. Therein, an FPGA-based EtherCAT master-slave station integrated bridge controller is constructed. Because of the hardware parallel computing capability of FPGA, the master station of the EtherCAT master-slave station integrated bridge controller has a hard real-time characteristic so as to ensure real-time sending and receiving of EtherCAT network data and reduce the dependence on CPU performance and operating system real-time performance. The EtherCAT master-slave station integrated bridge controller can serve as a slave device relative to a third-party master station device and meanwhile serve as a master device relative to a third-party slave station device, thus reducing the load of EtherCAT bus network and improving the flexibility of network topology.