The invention provides a logistics picking method based on EtherCAT. The method comprises the following steps that: master control equipment sends parcel unloading request; a servo slave unit on each parcel loading equipment obtains information of a parcel unloading lattice hole through which the slave unit passes through with one scanning period based on the parcel unloading request; whether obtained information of the parcel unloading lattice hole is consistent with information of parcels loaded or not is judged; if the information of the parcel unloading lattice hole is consistent with information of parcels loaded, judgment results are sent to the master control equipment through an EtherCAT bus; the maser control equipment sends a parcel unloading order based on the received judgment results; and the servo slave unit on the parcel loading equipment throws loaded parcels into the parcel unloading lattice hole based on the received parcel unloading order, so that parcel unloading is completed.