The PD-111-56 is a full mechatronic solution including a 56mm flange high torque motor (NEMA23). The low resistance of the motor coils and the supported high motor current allows highly dynamic operation. The driver electronics supports up-to 64 micro-steps. The PD-111-56 can be controlled via RS-232, RS-485 or CAN and IIC interfaces. For connection of power supply and motor coils screw connectors are available. Communication interfaces and multi purpose I/Os can be connected via small JST connectors. The PD-111-56 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like „move to position“ or „constant rotation“ a rapid and fast development of motion control applications is guaranteed. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed on board. The TMCL program can be stored in the on board EEPROM for stand-alone operation. With the StallGuard™ feature it is possible to detect motor overload or motor stall.