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As robots used in more and more fields, people are more stricted with their safety. As the core of the mobile robot, the reliability of the control system is very important to the whole system. In this paper, a modular design of robot control system architecture is modeled by the xMAS and then verified using ACL2, proving the funtionality correctness. As the formalization of xMAS model in acl2 is not completed, we first improve the formalization process in acl2 and then establish xMAS model of the sensor data acquisition module, abstract some key properties and then verify them. We combine the theorem prover ACL2 and xMAS model, which is a great way to solve the verification problem of robot control system, could also provide an effective reference method for the correctness verification of robot control system.