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It is important for ultra-dependable system to guarantee real-time performance. In this paper, an on-line hard real-time scheduling technique called HRTCS is presented, which is applicable for scheduling packets (messages) over a link. The scheduling technique can rapidly judge the schedulability and then automatically generate a bus table to schedule periodic and aperiodic packets. Using HRTCS not only guarantees the hard real time performance but also avoids the blockage and interruption of the packet transmission. Test results show that HRTCS can reduce the scheduling overhead and get higher bandwidth utilization than traditional scheduling algorithms. In addition, the FOLS policy of HRTCS provides a method to handle communication traffic variation rapidly during application system running. Therefore, HRTCS perfectly meets the demand of hard real-time communication on the ultra-dependable system.