I use the spartan 3e and I want to operate a stepper motor which has rated voltage 24v. So,my question is if I need an external source in order to actuate the motor or can I take from the fpga 24v??
The FPGA I/O pins tolerate relatively low voltages and currents, around 3.3V and 25mA (see the data sheet).
You need a separate 24V power supply and some interface circuits to switch the motor's higher voltage and current.
If you want control your motor with such a large voltage (24V) then it is better to use opto couplers or buffers in between driver circuit (which will be made with darlington transistors/MOSFETs) and FPGA.
If U need to control voltage level U may send digital data from Your FPGA to DA converter, then buffer DA output and amplify it. In this manner U define the final (amplified) signal level by simply sending bigger/smaller digital number value from FPGA output pins to DA.