A motion control system for a robot and using asynchronous communication, including: a first controller, being adapted for preparing a multiple of data sequentially at a series of first clocks and keeping transmitting the data at a series of second clocks until it receives a confirmation; a second controller, being adapted for receiving the data and acknowledging correct receipt of the data by returning the confirmation; wherein: an interval among the series of first clocks is longer than an interval among the series of the second clocks; the first controller comprises a first application module and a first communication module; the second controller comprises a second communication module and a second application module; wherein: the first application module is adapted for the data preparation and sending the data to the first communication module in response to the data preparation; the first communication module is adapted for receiving the data and the transmission of the data at the series of second clocks; the second communication module is adapted for the receipt of the data and the acknowledgment of the correct receipt of the data and is further adapted for storing the data in a queue of memory units; the second application module is adapted for accessing the data stored in the queue of the memory units, consuming the data at an interval longer than that among the series of the first clocks, wherein the second application module is further adapted for consuming the data stored in the queue of the memory units in the same sequence as the data are stored; the transmission operation of the first application module and the consumption operation of the second application module are independent; and the data at least have the information about the task and its execution time. a first controller, being adapted for preparing a multiple of data sequentially at a series of first clocks and keeping transmitting the data at a series of second clocks until it receives a confirmation; a second controller, being adapted for receiving the data and acknowledging correct receipt of the data by returning the confirmation; wherein: an interval among the series of first clocks is longer than an interval among the series of the second clocks; the first controller comprises a first application module and a first communication module; the second controller comprises a second communication module and a second application module; wherein: the first application module is adapted for the data preparation and sending the data to the first communication module in response to the data preparation; the first communication module is adapted for receiving the data and the transmission of the data at the series of second clocks; the second communication module is adapted for the receipt of the data and the acknowledgment of the correct receipt of the data and is further adapted for storing the data in a queue of memory units; the second application module is adapted for accessing the data stored in the queue of the memory units, consuming the data at an interval longer than that among the series of the first clocks, wherein the second application module is further adapted for consuming the data stored in the queue of the memory units in the same sequence as the data are stored; the transmission operation of the first application module and the consumption operation of the second application module are independent; and the data at least have the information about the task and its execution time. an interval among the series of first clocks is longer than an interval among the series of the second clocks; the first controller comprises a first application module and a first communication module; the second controller comprises a second communication module and a second application module; the first application module is adapted for the data preparation and sending the data to the first communication module in response to the data preparation; the first communication module is adapted for receiving the data and the transmission of the data at the series of second clocks; the second communication module is adapted for the receipt of the data and the acknowledgment of the correct receipt of the data and is further adapted for storing the data in a queue of memory units; the second application module is adapted for accessing the data stored in the queue of the memory units, consuming the data at an interval longer than that among the series of the first clocks, wherein the second application module is further adapted for consuming the data stored in the queue of the memory units in the same sequence as the data are stored; the transmission operation of the first application module and the consumption operation of the second application module are independent; and the data at least have the information about the task and its execution time. is further adapted for storing the data in a queue of memory units; the second application module is adapted for accessing the data stored in the queue of the memory units, consuming the data at an interval longer than that among the series of the first clocks, wherein the second application module is further adapted for consuming the data stored in the queue of the memory units in the same sequence as the data are stored; the transmission operation of the first application module and the consumption operation of the second application module are independent; and the data at least have the information about the task and its execution time.