With the PC21 Indexer card from Compumotor (see Compumotor for detail info) you can software-control several stepping motors available from Daedal/Compumotor/Parker.
I use a stepping motor with a daedal MS series drive and the pc21 indexer ISA card
to control my ATR reflectivity measuring equipment (see Fig.1) .
I rewrote the software to use it under linux. Note that it will run in user space !!
So you need root permissions on your Linux box.
A kernel driver would be a much better solution and I know that, but it is the first step to write a