An embedded motion control card based on an ARM chip in the technical field of motion control card design. In the present invention, the main control module is connected to the FPGA module, the expansion interface module, the memory module, the watchdog and the reset system module, and the power supply module respectively. The FPGA module is connected to the system clock module, GPIO module, JTAG interface module, dual-port communication module, DA module, and AD module respectively. The dual-port communication module is connected to the host computer through the PC104 bus module, and is responsible for the communication between the main control module and the host computer. Communication; the input and output signals in the DA module, AD module, and GPIO module are connected through the input and output signal interface modules and external servo drivers and switches; the present invention adopts the ARM microprocessor as the core component to realize high-speed and high-precision motion control. The number of components is reduced, the size is reduced, and the FPGA module is used to decode and plan the hardware address.