The paper is giving a simple and economical solution but with high performance for programming and controlling of Stepper Motor ( SM ) by using an industrial Programmable Logic Controller ( PLC ). PLC is advanced as a control device without any interface or drive circuits, thereby reducing the number of circuit components lowering the cost and improving the whole reliability of the system. SM is precise and accurate in creating discrete stationary angular revolutions, and for this characteristic, it has been used in numerous applications. The interested applications its usage in Robotic Arm Controller ( RAC ). The proposed control algorithm involves the control of SM speed, direction ( both clockwise & counter-clockwise ), and the number of step of rotation. The SM that is proposed to be controlled in experimental is four phase ( 6 wires ), with hybrid coil category, unipolar connection of stator winding, 24V rated voltage, 1.5A rated current, and it has step angle equal to 1.8º. Function Block Diagram ( FBD ) program design language is used to realize the proposed PLC control program for SM. Wave Stepping Excitation Method ( WSEM ) was employed for driving the SM.