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The structure of traditional automatic glove knitting machines is composed of plenty of gears, which brings complex production, low efficiency, high failure rate, high cost and other disadvantages. Thus, motors are employed to the machine to replace the gears and it becomes a new tendency of this industry. However, the motion control system (NCS) of the machine is still immature, which is a core component. To this end, a NCS is developed base on STM32F407 in this paper. Besides the knitting motion control, network monitoring and teaching programming functions are also developed. On the other hand, when the principal axis of the machine runs in high speed round-trip, a tiny pause will occur when a point-to-point control method is used, which will seriously degrade the performance of the machine. To address the issue, a position control method based on the impulse theorem is devised and a fuzzy logic control is applied to decrease position errors. Finally, product testing is performed in a factory. The NCS can complete the knitting tasks effectively, and the position errors of the principal axis are held small enough. The human-machine interface is succinct and efficient. Moreover, the NCS will provide a positive reference for the developments and applications of glove knitting machines.