The TMCM-111-56 is an intelligent stepper motor controller and driver module to be mounted directly on a 56mm flange motor. (Mechanical adaptation required - please contact TRINAMIC.) This triple-PCB module converts the motor into a compact mechatronic device with bus-oriented or stand-alone control. The switches, interface and the multi purpose I/Os can be connected with small pluggable connectors. The TMCM-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. The TMCM-111-56 can be controlled via an RS-232, RS-485, I²C or CAN interface. Communication traffic is kept very low since all time critical operations, e.g. ramp calculation are performed onboard. 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 StallGuardTM feature it is possible to detect motor overload or motor stall.