This paper describes the design of a 2-phase stepping motor driver using CPLD. The driver IC such as L297, which is mostly used has some difficulties in PWM current control because of the switching noise of power MOSFETs. The switching noise causes current ripple and acoustic noise. To reduce the switching noise, we designed a digital filter using VHDL. Also we designed constant current method for 1-2 phase(half step) excitation to reduce the torque ripple. Experimental results show the effectiveness of the proposed method. It is enabling further enhancements of stepping motor drive technology broadening the range of applications for the stepping motors.