Simulation plays an important part in the design process of modern mechatronic systems. To meet the strong quality requirements of such systems, the behavior of all subsystems and components has to be taken into account. Thus, the design tools and techniques have to be capable of dealing with subsystems of various physical domains such that the design engineer can be provided with particular knowledge about the interactions of subsystems.One important mechatronic system is the electrical drive since it comprises subsystems of several different physical domains the properties of which being all of special examination interest. The quality of motion strongly depends on the interactions of these subsystems. Furthermore, the quality constraints of such systems regarding dynamics and accuracy increased considerably in the past years.This paper first introduces the SIMPLORER1 simulation package and its unique multi-domain modeling approach with simulation backplane technology. Thereafter, its novel mechanical system simulation module is presented. A digitally position controlled worm drive example concludes.