The device core is a state of the art DSP, the TMS320LF2406A at 40 Mips, interfaced with a full set of peripherals designed to handle all analog feedback and control signals needed to correctly manage the power section of the device. A 64kbits EEPROM is also available to store calibration data. The PIIPM has been designed and tailored to implement internally all functions needed to close the current, speed and position loops of a high performances servo motor driver.