Provided is a parallel fieldbus network-based motor control system including one or more slave modules each including a basic processor and an auxiliary processor that control one or more motors, and a master module including at least one master controller that generates command data for controlling each of the one or more motors. The master module further includes a basic network master controller, an auxiliary network master controller and a wireless network master controller, and the slave module includes a basic network slave controller, an auxiliary network slave controller and a wireless network module.