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In this paper, a motion control IC for X-Y table using FPGA (Field programmable gate array) technology is presented. To alleviate the effect of unmodelled dynamics and cross interferences while two tables simultaneously motion, an adaptive fuzzy controller (AFC) is used in position loop of X-Y table to improve the motion tracking performance. In implementation, an FPGA embedded by a Nios II processor is adopted to design the overall circuits of the motion control IC which the scheme of position/speed/current control for two PMSMs is realized by hardware in FPGA and the motion trajectory algorithm for X-Y table is realized by software using Nios II embedded processor. Finally, an experimental system is set up and some experimental results are verified to prove the effectiveness of the proposed motion control IC.