Abstract: For lowering the cost and volume of desktop CNC lathes, an embedded CNC based on STM32 and FPGA is researched and designed. The CNC operating modes are redivided, and the whole CNC tasks are divided into client and server according to the client-server structure. According to the task requirements of the two parts, the corresponding hardware is designed, the specific software functions are studied and implemented. Finally, experiments were performed on two different desktop lathes to verify then modify the deficiencies of the CNC in terms of function, accuracy and stability. The experiment proved that the embedded CNC could meet the general CNC machining needs.