- This paper presents a motion control system which employs a load decoder, capable of analyzing the load value and changes, applied to the motor's rotor, decoding them into an instruction set for the controller input. The system is implemented in a field programmable gate array (FPGA) device, which have recently become affordable for implementing complicated motion control algorithms. All motion control logic is implemented in hardware (no software at all) and executes functions by the dedicated hardware logic. In such a case execution time becomes inherently fast and deterministic. This complicates the design, compared to the rather simple solution in software on DSP but offers reduced control system price which is essential for mass production applications. Moreover it can be easily transformed into ASIC for further cost reduction.