The PD-110-42 is a full mechatronic solution including a 42mm flange motor (NEMA17). It joins a convenient controller electronic with a range of different motor torques. The PD-110-42 offers three motor torque options and can be controlled via RS232, RS485, CAN or IIC interface. The power supply, interface and the multi purpose I/Os can be connected with small JST connectors. The PD-110-42 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. The firmware of the module can be updated via the serial interface. With the stallGuard™ feature it is possible to detect motor overload or motor stall.