The invention discloses an embedded four-axis motion controller which comprises a main controller and a motion control module. An output of the main controller is connected with the motion control module through an output interface, and the motion control module is respectively connected with an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a U-axis motion component. The controller of the invention adopts an S3C44BOX chip based on an ARM7TDMI core which is promoted by the Samsung company as the main controller, adopts a motion control chip MCX314As which is specially used by the NOVA company in Japan as an interpolate controller, adopts a PC104 bus interface with strong insertion ability, combines the embedded CPU with a special DSP motion control chip, embeds the motion control function in the framework of the ARM main control plate with a PC 104 function module method, cuts off the equipment that is not in need, has a plurality of functions and saves the cost. The invention is an independent motion controller which can be separated from a host computer and is characterized by strong computing ability and low cost, thereby extremely reducing the size of the system, lowering the power consumption, and improving the reliability and the openness of the system.