The invention discloses a rotary screen and intaglio integrated printing and embossing control method based on a rotary screen and intaglio integrated printing and embossing control system. The rotary screen and intaglio integrated printing and embossing control system adopts the specific structure as follows: a motion controller is connected with a PLC (programmable logic controller) and an HMI (human machine interface) through an Ethernet switch respectively, the motion controller controls a plate roller shaft, a rotary screen shaft, a water-cooling shaft, an embossing shaft and a sending-traction shaft by controlling an intaglio servo driver, a rotary screen servo driver, a water-cooling servo driver, an embossing servo driver and a sending-traction servo driver respectively, and the motion controller further controls a discharge shaft, a release-traction shaft, an embossing and water-cooling shaft and a withdrawing-traction shaft by controlling a discharge frequency converter, a release-traction frequency converter, an embossing and water-cooling frequency converter and a withdrawing-traction frequency converter respectively; rotary screen printing, intaglio printing and embossing technologies are combined, random accurate overprinting of rotary screen printing, intaglio printing and embossing is realized, and the problem of single overprinting methods in the prior art is solved.