A paper was presented at the conference IWPMA, based upon the latest improvements of MSPA Module of Stepping Piezo Actuator to provide an option for appropriated linear and rotary motional applications. Starting from breadboards, MSPA modules and stages have been developed to reach series of complex mechanisms. Analytical and numerical computations involving lumped models permit the realization of operating piezo motors, where design iterations and proper characterizations lead to continual optimization of previous prototypes. Upon the customer requirements, the upcoming product is subdue to a better development. Therefore, Cedrat Technologies aims towards technical and practical solutions based upon noise reduction, miniaturization, high speed working, non-magnetic, vacuum environment, closed loop positioning systems and low voltage ceramics integration. Two fully integrated mechanisms including MSPA cores for positioning applications are in production phase at Cedrat Technologies, and the present paper provides relevant information about their development.