The embodiment of the invention discloses a motor control method, device and system. The method comprises the following steps: acquiring a preset control word; controlling a motor to switch to a working mode corresponding to the control word; acquiring real-time motion parameters of the motor; acquiring a programming instruction of a motion track of the motor; performing three-loop closed loop operation to generate a control instruction according to the programming instruction and the real-time motion parameters; and sending the control instruction to the motor so as to control the motor. The embodiment of the invention can achieve more comprehensive control of the motor, for example, rotation starting, slip compensation, updating of a current position, short circuit brake and the like.