Motion controller for servo motor

The invention provides a motion controller for a servo motor. The motion controller comprises a parameter configuration module, a motion function module, a motion planning module, a state switching module, a control command module and a universal communication module suitable for various buses, the parameter configuration module configures the servo motor according to the servo motor parameters; when the motion function module is called by the servo motor, a corresponding motion function is realized, and feedback information is returned; the motion planning module is used for planning the position and/or speed and/or torsion of the servo motor when the motion function module is called; the state switching module switches the state of the servo motor according to the feedback information; the control command module generates a servo control command according to the position and/or the speed and/or the torsion and issues the servo control command to the servo driver; and the universal communication module is us