The invention discloses a full-servo back label printing, intaglio printing, rotary screen printing and embossing register control method. The method comprises the following steps of: 1, sequentially printing a dark color marks on the back surface of a paper tape material at a set interval; 2, making the paper tape material of which the back surface is printed with color marks pass through an intaglio printing unit, a rotary screen printing unit and an embossing unit, connecting a color register controller with a servo motor encoder of each unit roller respectively, and respectively recording a reference position of the servo motor encoder driven by each unit; and 3, directly adjusting the phase of the unit servo motor encoder by using the color register controller to ensure the register printing accuracy of each unit in the intaglio printing, rotary screen printing and embossing printing processes if the position of the unit servo motor encoder is different from the reference position recorded in the step 2. The full-automatic register printing method is simple in control process and can be conveniently and efficiently operated, and automatic detection and adjustment are realized completely.