Due to the increasing complexity of robot’s work, the working ability of the single robot becomes more and more inadequate. To solve this problem, the method that combined ARM microcontroller (MCU) with MCX514 motion control chip is proposed for coordinated motion control of robot-Numerical Control (NC) system. At the hardware design level, the ARM MCU and MCX514 motion control chip were used as the core hardware, and the communication between the chips, peripheral circuits and interfaces were designed. At the software level, relying on FreeRTOS embedded operating system and adopting multi-threaded programming mode, the Four-Degree-of-Freedom (4-DoF) NC system and the three-axis manipulator was controlled by MCX514 and ARM respectively. The method of base calibration using handshake mode was applied to achieve coordinated motion of robot and NC, and upper level matched program was designed. It is proved that the precision of the designed controller achieves the expected effect and has certain market value and application prospect when it is compared and analyzed with ACR9000 motion controller.