An implementation mode of the invention provides a high speed real-time bus communication method and a device thereof which pertain to the field of high speed data transmission application and robot control. The method comprises the steps of: resolving the IP address of data messages at the destination; preempting IEEE802.3 resources by taking the IP address at the destination as the priority of data frames and transmitting data. A specific implementation mode of the invention also provides a communication device applied to the high speed real-time bus. The method and the device have the advantage that data frames can reach equipment at the target in time to provide relatively good data transmission real-time performance and can not damage the data transmission of the current time of low priority data frames on the basis of preempting bus in a manner of high priority and priority delivery.