The characteristics of a PCI(peripheral component interconnect)-based multi-axis real-time control system for realizing high-accuracy motion control were introduced. To reduce the workload from host computer and utilize the intelligence of DSP(digital signal processor) efficiently for a complex task, the developed controller was designed with master-slave structure. The controller can also use serial communication control instead of PCI bus to satisfy users- requirements to some applications. The hardware development was focused on multi-axis controller, PCI local bus control logic, and PCI bus design; these parts are key technologies for a PCI-based controller design. Through a test in which a 3-DOF manipulator was used to follow a spatial screw trajectory, it was proved that the developed multi-axis controller can realize a near-real-time high-accuracy coordinated motion control.