The PD-113-56/60-SE PANdrive™ is a full mechatronic solution including a 57 or 60mm flange high torque motor, a motion controller/driver and a integrated sensOstep™ encoder. The PANdrive™ can be controlled via RS232 or RS485 interface. The power supply, interface and the multi purpose I/Os can be connected with small JST connectors. The chopSync™ feature allows high speed movement without resonance problems. The internal sensOstep encoder can be used to detect step loss or to control the target position. PD-113-56/60-SE 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.