Nowadays, control systems for stepper motors are well defined by using microcontrollers. The stepper motors are very good in positioning tasks and measurement tasks. Now there are some FPGA based developments for stepper motor controlling systems because of the complexity of the controlling system. But the new FPGA systems don't use the whole functionality and benefits of the FPGAs like the parallelism of computing tasks or the right structured Hardware-, Software-Co-Design. In this paper we want to show, that there are many possibilities to use the FPGA benefits for the development of stepper motor control systems and we show also an outlook to new developments and systems. Like an adaptive control system, which controls the parameters of the stepper motor and inspects them for aging.