Motion control method capable of supporting on-line upgrade of motion control module

The invention relates to a motion control method capable of supporting on-line upgrade of a motion control module. The motion control method comprises following steps that a master control unit executes a motion control host process and triggers an EtherCAT bus communication thread and a monitoring thread; the network structure is inspected and a servo driver is initialized in dependence on an EtherCAT bus communication layer protocol by means of the EtherCAT bus communication thread; monitoring is carried out through the monitoring thread; when a motion control module update signal is monitored, on-line update is carried out; at the same time, a parameter list and a motion control instruction are determined a motion control task sent by a motion control host processing parse host computer; the state information of the servo driver is acquired in real time in dependence on the EtherCAT bus application layer protocol, a motion control model is parsed to generate a control command, and the control command is transmitted in real time. According to the invention, on-line update of the motion functional module is achieved through the monitoring thread, and therefore the motion controller can be applied to complex motion control scenes to the utmost extent, real time control is achieved by means of an EtherCAT bus interface, and the network structure is very flexible.