In order to solve the problem of low realtime and poor stability of multi axis motion controller, a multi axis motion controller design scheme based on Advanced RISC Machine(ARM) microprocessor and Field Programmable Gate Array(FPGA) as slave processor is proposed.The hardware circuit design of the scheme based on ARM+FPGA multi axis motion controller, in order to further improve the control precision of multi axis interpolation speed controller, trapezoidal acceleration and deceleration control algorithm was introduced to the design of multi axis controller, avoid excessive shock, may appear in the actual operation of out of step and oscillation phenomenon. Finally, the designed multi axis controller was applied to test the parallel robot. The test results show that under the Position and Time(PT) motion control mode, the system can move according to the predetermined trajectory, and the speed of each axis is also stable.