The invention relates to a four-axis integrated servo driver and a servo drive control method. It mainly integrates the control and driving of four-way motor, so as to effectively reduce the number ofmulti-axis integrated master control chips, simplify the control circuit structure, and effectively reduce the production and maintenance costs. The structure of the controller mainly includes control circuit and power circuit. The control circuit comprises a first substrate, an MCU chip arranged on the first substrate, an encoder interface module, a communication module, a low-voltage power conversion module and a first row of pins. The power circuit comprises a second substrate, a rectifier and power soft start module arranged on the second substrate, a power drive module, a voltage conditioning sampling module, a brake control module, a current sampling chip, a current conditioning module, an energy storage capacitor and a second row of pins. The power circuit comprises a second substrate, a rectifier and power soft start module arranged on the second substrate, a power drive module, a voltage conditioning sampling module, a brake control module, a current sampling chip, a currentconditioning module, an energy storage capacitor and a second row of pins.