For real-time monitoring the multi-axis motion control unit,testing its performance and reliability,a multi-channel high-speed data acquisition system based on FPGA and PCI bus was designed 16 channels signals were acquired parallel,and FPGA was used for analyzing signals,gathering testing information and feedback information.Signal acquisition experiments show that the system parallel acquires multi-channel control signals with working frequency less than 100 kHz and voltage less than 32 V,sample accuracy is 12 bit and acquisition rate is 6.4 MSPS,so the system satisfies the test demand.