The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers for a hydraulic robot and a CNC XY-machine table was implemented. The controllers apply transputers and digital signal processors (DSPs), respectively. The DSP controller utilizes the dSPACE System that is suitable for real-time experimentation, evaluation and validation of control laws and algorithms. Furthermore, a developed IT-tool concept for controller and system design utilizing the ISO 10303 STEP Standard is proposed.