This paper presents the design and implementation of a motion control system using EtherCAT. The EtherCAT frame with an embedded motion profile is introduced. Additionally, a closed loop stepper motor that uses the embedded data of the EtherCAT frame is shown. For position control purposes, a lead angle estimation was designed. The Proportional Integral Feed Forward (PI-FF) controller was implemented to overcome the problem with reverse motor rotation. Finally, some experimental results are shown to verify the performance of the EtherCAT based motor drive.