The invention discloses a stacking robot driving method and driving system. The system comprises an ARM module and FPGA modules, wherein the ARM module is responsible for carrying out instruction or data interaction with an upper computer, the FPGA modules carry out motor control signal transmission and grating signal processing, and the functions of unpacking and stacking cigarette boxes are realized through a motor signal control module, a grating closed-loop feedback signal processing module and a limit switch module and the like. In a stacking robot based on the framework, an ARM compilesa program downloaded by a serial port, through the upper computer, the ARM and the reconfigurable design of a configuration chip and the FPGAs, the upper computer sends a reconfiguration command and configuration data, the two FPGAs are controlled through controlling to rewrite the configuration chip by the ARM, and finally an interface board of a drive card controls an X-axis servo motor, a Y-axis servo motor, a Z-axis servo motor, an A-axis servo motor, a B-axis servo motor and a C-axis servo motor, so that strong modifiable performance and portability are achieved, bottom layer drive modification is convenient, and the system is enabled to be more expanded and maintainability, has good and open software and hardware interfaces, and has good control flexibility characteristics.