A multi-axis motion controller based on all PC software was put forward. Its frame was explained, and its performance was analyzed in test. The controller was used successfully in a six-axis robot application, which performance index demonstrated were comparable with that of foreign products. Common PC and FPGA core based PCI card were used for the hardware of this controller. Trajectory calculation and the execution of G code were all implemented by PC software. PCI interface card is used only for data cache, simple logic conversion and sequential control.