By integrating the drive electronics into the B-side end shield, Heidrive has added another solution for decentralized drive technology to its 'HeiMotion Premium' servo modular system. Despite adjustments to the torques and output power, the dimensions of the entire drive unit are small: for a motor with a 60 mm flange square, for example, the overall length has been increased by just 20 mm. An encoder system was developed for this purpose, which is an integral part of the power board. In addition, there is a new motor controller, a highly integrated power output stage, a CAN bus connection and multi-turn capability with up to 4,096 revolutions. The system for decentralized 48 V drives in the 100 to 300 W class is particularly suitable for small actuators.