The invention discloses a motion control system for equipment containing a visual system, which comprises a running program module, a configuration module and the like. According to the above mode, the system integrates an EtherCat technology, and point locus control, torque control, linear interpolation, circular interpolation, fold line control and position control are performed on an executionmechanism through parsing an XML file configured by a user, functions of library function module calling and management, fault diagnosis and the like are provided, protocol parsing and real-time taskscheduling are realized based on the EtherCat bus technology, and data link layer solutions are provided in allusion to different control tasks and purposes. The motion control system is not only conducive to standardization and modularization of hardware design in the product development process, but also reduces the software programming difficulty and reduces the software design workload, has the advantages of high safety, powerful function, high efficiency, low cost and the like, and has wide market prospects in motion control and machine vision control of industrial automation at the sametime.