International Journal of Electrical and Computer Engineering (IJECE) Vol. 10, No. 1, February 2020, pp. 151~159 ISSN: 2088-8708, DOI: 10.11591/ijece.v10i1.pp151-159  151 Journal homepage: http://ijece.iaescore.com/index.php/IJECE Stepper motor movement design based on FPGA Freddy Artadima Silaban 1 , Setiyo Budiyanto 2 , Wahyu Kusuma Raharja 3 1,2 Department of Electrical Engineering, Universitas Mercu Buana, Indonesia 3 Postgraduate Department of Electrical Engineering, Gunadarma University, Indonesia Article Info ABSTRACT Article history: Received Feb 2, 2019 Revised Jul 11, 2019 Accepted Jul 17, 2019 A stepper motor is an electro mechanical device that can convert electrical pulses to the axis of movement. The finding problem in the movement of a stepper motor is cannot respond to the clock signal directly because the motor windings require a clock (sequence) in the correct order. If the control signal given is not correct, the motor is not moving according to the specified precision. To answer these problems, it is necessary to move the stepper motor with a clock signal that works in real time. The research method is done by designing and testing the stepper motor movement in full step and half step with the direction of Clock Wise (CW) and Counter Clock Wise (CCW) movement. These are simulated by using FPGA Isim and implementation using a stepper motor. The results of several experiments have been carried out the stepper motor movement degree according to the input value entered, responding timely movement, and the direction of movement stepper motor. Keywords: CCW CW Full step Half step Stepper motor Copyright © 2020 Institute of Advanced Engineering and Science. All rights reserved. Corresponding Author: Freddy Artadima Silaban, Departement of Electrical Engineering, Universitas Mercu Buana, Meruya Selatan, Kembangan, Jakarta Barat 11650, Indonesia. Email: freddy.artadima@mercubuana.ac.id 1. INTRODUCTION Stepper motors are used in various industrial applications where low power is required and low speed, torque, fast dynamics and precise positioning are important factors, for example in medical applications for accurate medicament dosage with peristaltic pumps or pipettes and as motion control actuators in dialysis equipment [1]. The main utilization of stepper motors is positioning of stepper motor rotor with required precision. Stepper motor is suitable primarily for tasks where the precision is very important factor. Stepper motors are electromechanical incremental devices that convert electric pulses to shaft motion. The basic operation of the stepper motor allows the shaft to move a precise number of degrees each time a control pulse is sent to the motor. Stepper motor can be a good choice whenever controlled movement is required [2]. The problems found in the movement of the stepper motor are unable to respond to the clock signal directly because the motor winding requires a clock in the correct sequence, if the control signal given is not correct then the motor does not move or move is not in accordance with the precision of the degree of movement Already specified. However, to meet relative high performance applications, stepper motor performance needs to be further improved. Due to stepper motors’ specific design, they can reach relatively high linearity even at open loop operation. The angular position error is the difference between the reference angular position and the angular position of the rotor [3]. Stepper motor is an electro-mechanical device that can convert electrical pulses to the movement shaft. The Parallel processing power of FPGA is utilized here to implement multiple stepper motor controls [4]. Due to the fact that the flexibility and high performance of Field programmable gate array (FPGA), it has been widely used on the hardware implementation of controller, some examples are about the design of the PID controller [5-7]. FPGA has a small error correction