Abstract: An electrophotographic printer 10 having a control system 51 for controlling a stepper motor 50. The control system 51 includes a motor speed drive circuit 52, a microprocessor 54, and a clock 58. The motor speed drive circuit 52 has a programmable driver 56 and a logic circuit 60. The microprocessor 54 outputs a speed change value each time a change in the stepper motor is desired. The programmable driver 56 stores the speed change value and incrementally counts down from the speed change value to zero in synchronization with a clock pulse from the clock 58. Upon reaching zero, the programmable divider 56 outputs a speed command signal to the logic circuit 60, which in turn outputs drive signal to control the operation of the stepper motor 50. The microprocessor 54 only outputs a new speed change value when a change in stepper motor operation is desired. If no change is desired, the programmable divider 56 uses the last input speed value to control the stepper motor.