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The analysis of the error of the energy saving control system will be restricted by the regional and spatial environment, which leads to the low precision of the traditional method analysis results. In view of the problem, the time domain method is proposed to analyze the error of the under actuated multi axis mechanical energy saving control system. From the point of view of system control time domain response, the control error of control system in two aspects of static response and dynamic response is studied. Through the static response characteristics, the flow chart is constructed and the static error is calculated. Based on the calculation results, the influence of the input signal on the static error can be analyzed. The space limitation can be improved, the process curve is drawn and the dynamic error is calculated by the dynamic response characteristics, and the dynamic error is influenced by the calculation results on the basis of studying the dynamic error on the basis of the calculation results. The problem of regional restrictions can be improved. The result of the case comparison shows that the time domain method has a high precision for the system control error analysis result, and the maximum can reach 90%. The time domain information is provided for the industrial control system.