A microprocessor‐based adaptive pulse‐pump controller (μP‐APPC) for X‐Y mode frequency‐locked stepping position servo control system (XY‐FLSPS) is proposed. A control strategy inμP‐APPC for fasting the system locking process is developed. A discrete frequency set is built to represent the servo position so as to raise the accuracy of position lock and reduce the conversion error in the signal processing. TheμP‐APPC can respectively provide proper X's and Y's motion profiles for guiding their movements according to the detected position errors. An X‐Y pulse rate identifier (XY‐RI) is built to prescribe the instant X‐axis and Y‐axis motion speeds so that both X and Y motors can reach the target at approximately the same time. System modeling for analysis and computer simulation is constructed. A prototype of the XY‐FLSPS withμP‐APPC controller is developed for assessing system performance, and the X‐Y position and speed responses are described by three‐dimensional display.