The Magellan 55110 single-axis, single-IC motion processor has automatic stall detection to alert users when a stepmotor has lost steps during motion. The unit monitors the targeted and actual position and detects any number of motion errors that result in a stall condition. The processor is driven by a host microprocessor using an 8 or 16-bit parallel bus, CANbus 2.0B, or an asynchronous serial port. Additional features include programmable PID filter with velocity and acceleration feedforward, 32-bit position error, and 50 sec loop time. Profile modes include S-curve, trapezoidal, velocity contouring, and electronic gearing. The MC55119 accepts input parameters such as position, velocity, and acceleration from the host and generates the corresponding trajectory, as well as feedback from an incremental encoder at up to 10 megacounts/sec, or an absolute encoder or resolver at 160 megacounts/sec.