The CD6040 drive control integrated machine adopts an X86+DSP architecture platform, integrating four axis servo drive and motion controller, achieving a perfect combination of drive, operation control, and robot application technology, with excellent performance of high resolution, high response, and high reliability; Support 4-axis control, use structured programming language, easy to learn, and easy to teach; It can achieve control of PTP, straight line, and arc spatial curves for various postures.