The new generation of Field Programmable Gate Array (FPGA) technology enables to embed a processor to construct a System on a Programmable Chip( SoPC). A stepper motion control IC for X-Y table using SoPC technology is proposed in this thesis. The proposed motion control IC contains two modules. One module performs the functions of schedule and logic control. Due to the need of complicated control algorithm, it is implemented by software using Nios II embedded processor. The other module performs the functions of interpolation, acceleration and deceleration. Due to the need of high performance, this module is implemented by Programmable Logic Device (PLD) in FPGA. The use of SoPC technology can make the motion control IC of X-Y table more compact, high performance and low cost .